Calibration of an H-frame requires two layouts to be
built, so that the calculation for external axes will
be correct. So first perform other calibrations and before changing
to positioner calibration, save the H-frame sides A and B to their
own layouts and proceed with the calibration.
Upload the side A measurement programs to Delfoi,
check that the points are in a logical position and
that there are no clear measurement or upload errors. All the
points need to be then touched-up to the calibrated tool tShort by
selecting the Touch-up tool from calibration help tools. Select
the scope for current sequence and the tool to the one that has the
short spike data and click ChangeTool.
After Touch-up, select Positioner from Calibration Tools.
This opens up a dialog, where you need to fill the following info
depending on the positioner type on each side of the H-frame.
Select Joints: 1
Link1 Position: Headstock program
Link1 Orientation: Tailstock program
Link1 X Direction: Link 1 X-axis direction in world coordinate system
After Positioner calibration, a component name
DelfoiFlagPoleResults is created containing the calibrated link
positions (Link1 and Link2) and orientations (Link1Ori and Link2Ori).
If the link position and orientation seem to be a lot off the
simulation model, the model needs to be
fixed regarding which robot brand is in use.
Select Joints: 2
Link1 Position: Link 1 program
Link1 Orientation: Link 1 program
Link2 Position: Link 2 program
Link1 X Direction: Link 1 X-axis direction in world coordinate system
Link2 X Direction: Link 2 X-axis direction in world coordinate system
After Positioner calibration, a component name
DelfoiFlagPoleResults is created containing the calibrated link
positions (Link1 and Link2) and orientations (Link1Ori and Link2Ori).
Corrections to the model
If the calibrated link position and orientation seem to be a lot off the
simulation model (for example over 4mm, depends on the system and
required accuracy), the model needs to be
fixed regarding which robot brand is in use.
After finishing with side A, repeat everything to side B.