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Calibration exercises


Open the practise layout, perform the calibration and answer the questions.

Exercise layout with three cases

Download the layout from the above link and use the Delfoi calibration tools to calibrate the three case cells inside the layout. The calibration programs are already uploaded to robots and zero positions and pulses are also already set.

Download layout here

Calibrate the TCP positions for the CASE 1 robot using the uploaded measurements. Also calibrate the TCP orientation for the short spike.

What are the RMS values for both tools?
Are the RMS values good enough to continue with calibration?
What are the tool coordinates for the short spike?

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Calibrate the following components using the uploaded programs:

  • TCP for short and long spike
  • Robot track
  • Workpiece positioner


  • What are the RMS values for the spikes?
    What is the track LSQ error value?
    What are the standard deviations for the positioner?

    Show/hide answers

    Calibrate the following components using the uploaded programs:

  • TCP for short and long spike
  • Robot track
  • Workpiece positioner


  • What are the RMS values for the spikes?
    What is the track LSQ error value?
    What are the standard deviations for the positioner?

    Show/hide answers


    More exercises coming soon.