Joint zero positions

First jog all the robot axes to zero or to a known value, such as 90 degrees. Then check that the robot pose matches the one in the simulation. Repeat this also to all external axes.

Robot with joint values (0,90,0,0,0,0)

Joint directions

Next step is to check the joint directions for the robot and the external axes. If robot is taken from the eCatalog, the directions should be correct by default. Jog the joints one by one to + and - directions and fix the model directions if needed.

Tools and bases for measurements

Take all measurements with a zero tool selected on the robot controller. Attach the short spike to the torch and use it to take all other measurements, except long spike. Preferably, also use a zero base to take the measurements, meaning that the base exists in the origin of the component.

Orientation interpolation mode

To check the orientation interpolation mode, a program with two linear points needs to be generated. The points should be near a straight edge, length of 300mm minimum. The points are on the same level, but between them the torch wire direction and torch wire roll need to rotate by 90 degrees. If the wire of the torch changes the push/pull angle, it means "One axis" interpolation, if not, "Two axis" interpolation. The XYZ interpolation for one axis case is selected regarding the axis which is set along the torch wire: Z-axis along wire = One axis-Z interpolation.