Robot gantry

Measurement checklist:

Select zero tool, zero base and keep short spike
Create new programs for all axes
Save 2 points from both ends of the axis 1
Save 2 points from both ends of the axis 2
Save 2 points from both ends of the axis 3
Save the 3 programs to a memory stick

Setting up the gantry measurements

To calibrate the gantry axes, all X, Y and Z directions need to be measured to their own programs. Keep the same robot settings with zero base, zero tool and short spike, and attach the magnet spike somewhere so that the robot can reach the spike easily.

Info - Positioning the magnet spike

Position the magnet spike so, that the robot reaches it and it allows all the track axes to move as much as possible during the measurements. This results in a higher calibration accuracy.

Create a program in the robot controller for the axis that is the closest to the robot in the kinematic chain. This is the one that moves the robot base. Then save one point so that the robot is on the one end of the gantry axis and second when the robot is on the other end of the same axis. Make sure that in the second point the spike tips match exactly, move only the robot joints to match the points.

After saving the two points, create new programs for the remaining axes and save the points similarly.

Note - Keep other axes stationary

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

After gantry calibration, you should have 3 programs with 2 points each , for X, Y and Z axes respectively.

After taking the measurements

Save all the subprograms to a USB-stick from the controller.

Robot gantry measurements

Robot gantry

How to take the measurements

X points

Y points

Z points

Gantry measurements done!