Calibration Series_20-Point Calibration
2022-05-23
12-point/15-point/20-point calibration share the same calibration interface, and calibrating all 20 points means using the 20-point calibration method.
This calibration method has the function of correcting the zero point, and it is not recommended to use a welding gun with radians for calibration.
Click the "20-point calibration" button at the bottom of the "Tool hand calibration" interface to enter the "20-point calibration" interface, as shown in the figure.
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175729.png)
The specific calibration steps are as follows:
- Find a reference point (the tip of the pen is the reference point) and ensure that this reference point is fixed.
- Start inserting position points, click "Mark this point" after inserting each point, insert 20 points, and the greater the pose difference of each point, the better.
Manufacturers recommended calibration steps: P1: tool hand vertical down; P2: do A+; P3: do A+; P4: do A+; P5: do A-; P6: do A-; P7: do A-; P8: do B+; P9: do B+; P10: do B+; P11: do B-; P12: do B-; P13: do B-, the rest points are mainly calibrated by moving the robot around C axis to make a metre-shaped arrangement.
The specific steps are as follows.
P1
Make the robot tool hand end perpendicular to the reference point
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175810.png)
P2
Do A+ on the basis of the first point
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175824.png)
P3
Do A+ on the basis of the first point, rotate 40°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175839.png)
P4
Do A+ on the basis of the first point, rotate 60°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175851.png)
P5
Do A- on the basis of the first point, rotate 20°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175908.png)
P6
Do A- on the basis of the first point, rotate 40°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175924.png)
P7
Do A- on the basis of the first point, rotate 60°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175945.png)
P8
Do B+ on the basis of the first point, rotate 20°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014175958.png)
P9
Do B+ on the basis of the first point, rotate 30°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180022.png)
P10
Do B+ on the basis of the first point, rotate 40°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180047.png)
P11
Do B- on the basis of the first point, rotate 20°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180114.png)
P12
Do B- on the basis of the first point, rotate 30°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180122.png)
P13
Do B- on the basis of the first point, rotate 40°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180147.png)
P14
Do C+ on the basis of the first point, rotate 30°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180208.png)
P15
Do C+ on the basis of the first point, rotate 50°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180225.png)
P16
Do C+ on the basis of the first point, rotate 70°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180239.png)
P17
Do C+ on the basis of the first point, rotate 90°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180254.png)
P18
Do C- on the basis of the first point, rotate 30°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180321.png)
P19
Do C- on the basis of the first point, rotate 60°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180350.png)
P20
Do C- on the basis of the first point, rotate 90°
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180408.png)
![img](https://forinexbotweb.oss-cn-shanghai.aliyuncs.com/assets/image/news/220909/20221014180422.png)