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TCP short spike measurements


Take the following measurements to calibrate the TCP position using the short spike.




Measurement checklist:





Setting up the measurements

Create a new program in the robot controller and name it so that you remember it, for example shortSpike. Attach the short spike to the robot torch and the spike with the magnet base close to the robot so, that the robot can reach the spike from multiple orientations (see image below). Make sure that the robot is using a zero tool and a zero base.

TCP short spike

Spike positioned to a good robot reach


Info - Zero tool and zero base
Zero tool and zero base mean that all the coordinates for those are set as zero. For zero tool the TCP is located in the robot mountplate (X=0, X=0, Z=0, Rx=0, Ry=0, Rz=0) and for zero base the origin is usually in the origin of the robot.

Taking the measurements

Align the spikes so, that the tips match exactly and then save the point to the program using a joint motion type. While taking the points, make sure that the mountplate of the robot covers as big of an area as possible and the robot joints change their values as much as possible between the points. These result in better calibration accuracy. Use a piece of paper to measure the distance between the spikes: When the spikes scratch the paper, the spikes are close enough.

Note - Measurement error
Make sure to align the spikes as accurately as possible to minimise the measurement errors. Even small errors can lead up to large inaccuracies!

Then change the torch orientation so that the mountplate moves to another position and save a new point with the same tool and base. Then repeat until you have 8 points in your program.

After taking the measurements

After the measurements you should have one program with 8 points. Save the program in ASCII format to a USB-stick from the controller..