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Measurements for three-axis workpiece positioner


Skyhook with an elevating link



Measurement checklist:








Setting up the WPP measurements

The measurements for three-axis wpp include the following points:

  • 8 points from link 1
  • 8 points from link 2
  • 2 points from elevator link

    • Keep the same robot settings with zero base, zero tool and short spike attached.

    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 WPP calibration, you should have 2 programs with 8 points each and one program with 2 points. If there are more than one positioner, repeat the measurements similarly.

    After taking the measurements

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