The intent of mechanical zeroing is to make the robot's electrical zero point (encoder zero point) coincide with the mechanical zero point.
Friends who know CNC machine tools know that the first reference point (zero point) for the engine bed with incremental encoder is the point. Industrial robots also have zero point, but there is no need to return to zero after power failure and restart, because the servo motor of the robot uses an encoder (the battery continues to supply power after power failure), the zero point is the benchmark of the robot coordinate system, and the robot cannot judge its own orientation without zero point. Therefore, in order to obtain high positioning accuracy, the robot needs to be calibrated so that the mechanical zero point and the algorithm zero point are as close as possible (it is generally believed that the zero point offset has little effect on the repeated positioning accuracy).
Principle of zero point correction: the orientation of the groove is the orientation of the zero point of the mechanical robot of this axis. The electronic proofreading tool finds the zero point by itself according to the operation steps; The dial gauge is in manual form, and it is necessary to find the inflection point of the dial gauge.
Only after sufficient and correct calibration of industrial robots will their use be excellent. Because only in this way can the robot achieve its high point accuracy and trajectory accuracy, and may be able to move completely with programmed movements.
In principle, it is necessary for the robot to be in the state of the zero point of calibration at all times.
Zero calibration is necessary in the following cases:1. When a new device is first run. 2. After adopting maintenance measures for the components involved in the detection of positioning values (such as motors with resolvers or resolvers). 3. When the robot axis is moved without a controller (e.g., through a freely rotating device). 4. After mechanical correction (the problem is that it is necessary to delete the zero point of the robot in order to calibrate the zero point). 5. After replacing the gearbox. 6. After a severe collision.
First zero calibration procedure
1. Move the robot to the pre-zero calibration position. As shown in the image, the white grooves are visually aligned.
2. In the main menu of the teach-in device, select the zero calibration >> EMD > load calibration > zero calibration that is in operation. (A window opens actively.) Displays all zero-calibrated axes. Low-numbered shafts have been selected. ）
Note: Zero calibration can only be performed when the robot is unloaded.
3. Remove the cover on the interface X32.
4. Connect the measuring cable to the X32.
5. Remove the maintenance cover of the graduated cylinder from the shaft selected in the window. (The inverted EMD can be used as a screwdriver.) Screw the EMD onto the graduated cylinder.
6. Connect the measuring cable to the EMD. During this process, the red dot of the plug is aligned with the notch in the EMD.
7. Click on the zero point to calibrate.
8. Press the acknowledgment switch and start button. If the EMD has been cut incision, the zero calibration orientation will be calculated. The robot actively aborts the operation. The value is stored. The axis disappears in the window.
9. Remove the measuring line from the electromagnetic drive device. Then remove the EMD from the graduated cylinder and replace the maintenance cap.
10. Repeat steps 4 to 9 for all axes to be calibrated at zero.
11. Close the windows.
12. Remove the measuring cable from the interface X32.
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