If the initial adjustment is lost (e.g. after a motor change or bump), the initial adjustment is restored. Since the learned error persists even after the adjustment is lost, the KUKA robot is able to calculate the initial adjustment. Before checking an axis, it is necessary to complete the adjustment of all the lower-numbered axes.
Detailed operation steps:
Always screw the SEMD without the measuring wire onto the measuring cylinder. The conductor can then be connected to the SEMD. Otherwise, the wire will be damaged. Similarly, when removing the SEMD, it is necessary to remove the measuring wire of the SEMD. Only then is the SEMD removed from the measuring barrel. After the zero calibration, the EtherCAT cable is removed from the interface X32. Otherwise, there will be a disturbing signal or cause damage.
1. In the main menu, select Put into operation > Adjust > EMD > with load correction > Load correction > with bias.
2. Enter the thing number. Something OK with a button is admitted. A window opens actively. All axes that have been error-learned with this thing are displayed. The axis with the small number has been selected.
3. Remove the cover on connector X32. Connect the EtherCAT cable to the X32 and the zero calibration box.
4. Remove the protective cover of the measuring cylinder from the selected shaft in the window. (The flipped SEMD can be used as a screwdriver.) ）
5. Screw the SEMD onto the measuring cylinder.
6. Connect the measuring wire to the SEMD. It is possible to see on the cable socket how the wire should be wound to the prongs of the SEMD.
7. If it is not connected, connect the measuring cable to the zero calibration box.
8. Click Inspect.
9. Press and hold the acknowledge switch and press the start key. If the SEMD has passed the measurement cut-off, the zero calibration bearing will be calculated. The robot actively stops running. The difference with "error learning" is shown.
10. Use backups to store these values when needed. The old zero calibration is then deleted. If you want to recover the lost initial zero calibration, it is necessary to save these values.
11. Remove the measurement wire from the SEMD. Then remove the SEMD from the measuring cylinder and attach the protective cover from the beginning.
12. Repeat steps 4 through 11 for all axes to be zeroed.
13. Closed windows.
14. Remove the EtherCAT cable from interface X32 and the zero calibration box.
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