If the origin orientation is incorrect, the encoder debugging/zeroing position is used to move each axis to a defined mechanical orientation, i.e. the mechanical zero orientation. This mechanical zero point requires the shaft to move to a position defined by the detection notch or scribe mark. If the KUKA robot is in the zero position of the machine, it will store the absolute detected values of each axis. [General 0 increments to 0 viewpoints]. Using the dial dial or the electronic detection probe, the KUKA robot is moved sequentially to the correct zero point of the machine. It is necessary for the KUKA robot to operate at the same temperature all the time to prevent errors caused by thermal expansion. It is necessary to pay attention to this method of calibration: keep the KUKA robot constant at the operating temperature, that is, always in the cold machine or always in the hot machine state.
Rely on the rulers on each axis of the KUKA robot, or the inspection head with a dial indicator or electronic inspection probe attached. The specific situation depends on the type of KUKA robot. In order for the axis of the KUKA robot to sit exactly in the zero position of the machine, it is necessary to find its pre-calibration position first. Then remove the maintenance cap of the detection head and attach the dial indicator or electronic detection probe. The electronic detection probe is inserted into the KUKA robot junction box [connector X32] and is connected to the KUKA robot control unit. When passing through the valley floor of the zero-point groove, the detection probe reaches its lowest point, and the mechanical zero-point orientation is reached. The electronic detection probe sends an electrical signal to the control unit.
If a dial gauge is used, the zero point bearing can be verified by a steep reversal indication. Pre-alignment makes it easier for the KUKA robot axes to move to the zero position. The pre-alignment can be identified by a scribing mark or notching mark. The KUKA robot must arrive at this position before proofreading. An axis may be able to move to the mechanical zero position just by "+". If it is necessary for an axis to be rotated from to "+", it is first necessary to turn the mark that pre-aligns the position and then return to the mark. It is important to be able to eliminate the reverse clearance of the gearing.
It is necessary for KUKA robots to be proofread in the following cases:
As long as there is no emergency stop and the corresponding transmission device is connected, the shaft can be calibrated. If necessary, reconnect the emergency stop circuit of the peripheral equipment.
For clarification on emergency stops, see KUKA Control Screen. Cabling of the emergency stop line and X32 connection for electronic detection device (hardware connection).
When calibrating the arm axis, the impact of the need for an external orientation system is taken into account before the calibration process is performed, since the 4-axis and 6-axis viewpoint can be rotated infinitely before the alignment
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One. Outline:
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