One axis positioner

Measurement checklist:

Select zero tool, zero base and keep short spike
Create new programs for all rotating links on both sides
Save 8 points on each rotating link
Save the 4 programs to a memory stick

Setting up the H-frame measurements

Keep the same robot settings with zero base, zero tool and short spike. The measurements for the H-frame are taken from the positioner plates from the both sides of the H-frame. The unit turn doesn't need to be measured. If the H-frame has one-axis positioners on both sides of the frame, the measuring protocol is the same as with one-axis positioner or if the frame has two-axis positioners the protocol is the same as with two-axis positioner, only conducted to both sides of the H-frame.

Info - Positioning the magnet spike

Position the magnet as far away from the rotating center as possible. If robot doesn't reach the flange, attach the spike somewhere in the positioner where it can be reached and it still rotates around the axis.

For taking the points, Synchro base can be used to move the positioner and the robot synchronously.

Note - Keep other axes stationary

Make sure that the other external axes are stationary while taking the measurements! Otherwise the calibration will fail!

After H-frame measurements, you should have 4 programs with 8 points each.

After taking the measurements

Save all the subprograms to a USB-stick from the controller. Name the programs logically so, that they are distinguishable.

Measurements for an H-frame positioner

H-frame

How to take the measurements

Headstock points

Tailstock points

First joint

Second joint

H-frame measurements done!