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Robot calibration, and tcp trouble.

tglass
tglass ✭
in Robot Controller
I'm currently in the first commission phase of my robot. The resolver values match up from pendant to installation sticker, however the mark on axis 4 is slightly out, but is within the revolution markers on the robot arm. 

Now I'm at the point of programming the TCP, but we can't get it within less that 10mm. Is this linked to the fact that axis 4 is slightly out? 
I'm assuming it probably is, but I'm new to the industry so I'm wondering whether there may be another reason for the problem, and does anybody know how to solve it.

Thanks, Tom.

Comments

  • SjoLi
    SjoLi ✭
    If the value of the rev counter is close to 0 or 6.28 (2 PI()) it could be that you updated the counter 1 revolution off.

    This can happen easily with these values because the calibration is close the the motor revolution 0 position
    RobWelding
    The Netherlands
  • Neily03
    Neily03 ✭✭✭
    As SjoLi you're probably one turn out on the motor, move axis 4 slightly to the other side of the calibration mark and update the rev counters again.

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