One. directives
1.PULSE: The pulse value of each joint at the time of moving or returning to the position when the number of pulses of each joint is given
2.HOFS: Set or return the number of pulses from the encoder Z phase to the mechanical origin
3. CALPLS: Pulse number setting or display of calibration position (or origin).
4.ENCRESET: Encoder reset
5.CALIB: Write the pulse value of Calpls into the system
6. BRAKE: brake unit control command; Control the electromagnetic brake unit to hold or release
Two. Robot and origin calibration method
1. Calibration method:
a. Move the arm to the origin of the machinery or to a position that has been confirmed prior to repair;
b. EncReset (reset each axis of the encoder), enter Encreset 1- Encreset 6 in the command window;
c. Restart the controller, "Menu Bar" - > things - > > to reset the controller;
d. Set the origin pulse, Calpls 0, 0, 0, 0 (at the origin position);
or Calpls Ppls (P1,1), Ppls (P1,2), Ppls (P1,3), Ppls (P1,4) (P1 that has been taught before the reference origin was changed.)
dots);
e. Calib (calibrated for each axis): Calib 1
Calib 2
Calib 3，4
Calib 4
2. Axis robot second joint *** calibration (left and right hand posture calibration):
a. Verify that the centers of the J2 joints of the robot are calibrated as follows:
(1) Prepare the fixture in the following figure and install it at the end of the ball screw; The machining accuracy of the fixture should be high enough to ensure as much as possible
After installation, the ball screw and fixture are concentric;
(2) Fix a "ten" mark on the workbench (which can be printed on paper), move the robot in the right-hand position, let
The *** of the fixture mounted on the Z-axis is aligned with the center of the cross, as shown in the following figure:
(3) Teach the time point as P1;
(4) Enter the JUMP P0/L :Z(0) command in the command window to make the robot switch to the left-handed position
Point teaching is P2;
(5) jog the Z-axis close to the "ten" mark on the work table, and check whether the two positions coincide; If it coincides
This is the end of the calibration, otherwise proceed to the following.
b. Correct the origin of J2 and enter the following in the command window:
Hofs Hofs(1), Hofs(2)+(Ppls(P1,2)+Ppls(P2,2))/2, Hofs(3), Hofs(4)
c. The mobile robot arm is aligned with the "ten" mark on the top of the work table, and the calibration is P3;
d. Enter the JUMP P3/R :Z(0) command in the command window, move the Z axis close to the "ten" mark on the top of the work table, and check
whether the two positions coincide; If the coincident calibration ends here, repeat steps 1-2.
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