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Calibration troubleshoot


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TCP RMS is over 1

  1. Check the measurements for measurement errors

    2. Go through the points for clear outliers and remove them if found. If the points are taken in too similar positions, repeat the measurements and make sure that the mountplate of the robot moves as much as possible

  2. Check that the points are touched-up to zero tool

    3. Make sure that the tool used to upload the points has all its values at zero

  3. Check the measurement hardware

    4. Make sure that the spikes are not bent, they are attached rigidly and do not wobble when the points are taken

  4. Perform Joint Offset Calibration

    5. If you use a robot that uses either joint values or pulses, perform Joint Offset Calibration

  5. Perform mechanical calibration

    6. Follow instructions provided by robot operator or robot integrator to calibrate the robot mechanically / to perform robot mastering

Workpiece positioner link is in wrong position

  1. Check the measurements for measurement errors

    2. Go through the points for outliers and remove them if found

  2. Check that the points are touched-up to correct tool

    3. Make sure that the points are touched-up to the calibrated tool

  3. Check that you have the correct information selected

    4. Select the correct sequences and correct information regarding positioner calibration.

  4. Check the measurement hardware

    5. Make sure that the spikes are not bent, they are attached rigidly and do not wobble when the points are taken

LSQ moved the component in the wrong direction

  1. Check the measurements for measurement errors

    2. Go through the points for outliers and remove them if found

  2. Check the reference program

    3. Make sure that the points in the reference program are snapped correctly and that they are in the same order as in the measured sequence

  3. Check that you select the correct sequences

    4. Make sure that the correct sequence and component are selected in the LSQ window

  4. Reset the workpiece position

    5. Make sure that the workpiece hasn't moved or been calibrated to previous position

Positioner components do not work correctly

  1. Check the category of the components

    2. Check that the category for these components is exactly either Robot Positioners or Workpiece Positioners

  2. Check the component modelling

    3. Make sure that the component is correctly modelled and has the correct servo drive

  3. Check the kinematics of the positioner

    4. Check that the links and joints are of the right type and positioned correctly

  4. Re-model the positioner

    5. After checking the links, delete the servodrive and the interfaces and perform the positioner wizard again