Introduction
An HC Series Robot will have a Torque Sensor on the output side of every axis gear reducer. These need to be calibrated when the robot is first set up and occasionally during the life of the robot as their output values can drift slightly due to changes in temperature, hard stopping situations, changes to the robot mounting, etc.
Procedure
Calibrating the Torque Sensor Origin Position requires special robot loading and posture in software version earlier than YRC1000 System Version YAS 2.95 or YRC1000micro System Version YBS 2.32. Software versions later than those can be calibrated with any posture as described below.
Calibrating the Torque Sensor Origin Position requires the controller to be in SAFETY SECURITY MODE.
The calibration process involves three main steps:
- Select a Tool Data File with the correct tool and loading condition.
- Move the TCP of the selected tool a minimum of 5mm.
- Calibrate the Torque Sensor Origin Position.
Step 1. Select a Tool Data File
The calibration must be performed with the correct Tool Data File for the tool and loading condition that is currently on the robot. Calibration with an incorrect Tool Data File can cause the controller to calibrate to incorrect values and lead to PFL errors and incorrect Pull Back behavior.
Press and hold the SHIFT key and then the COORDINATE key to bring up the TOOL NO. SELECT list. Cursor to the correct Tool Data File and press SELECT. The selected Tool Data File number will be shown in the upper right-hand corner of the display.
Step 2. Move the TCP of the selected tool a minimum of 5mm
Upon changing a Tool Data File, the robot controller will temporarily mute any errors that can be caused by improper tool conditions until the TCP has moved at least 5mm. Calibrating without moving the robot a minimum of 5mm may cause the calibration to be performed with the previously selected tool data and result in incorrect calibration.
Step 3. Calibrate the Torque Sensor Origin Position
Select SAFETY FUNC. and then select TORQUE SENSOR ORG POS
Select EDIT to display the SELECT ALL AXIS icon.
Select SELECT ALL AXIS to display the confirmation window.
Select YES to complete the calibration.
Comments
0 comments
Please sign in to leave a comment.