Calibration Series_20-Point Calibration

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.

The specific calibration steps are as follows:

1. Find a reference point (the tip of the pen is the reference point) and ensure that this reference point is fixed.
2. 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

P2

Do A+ on the basis of the first point

P3

Do A+ on the basis of the first point, rotate 40°

P4

Do A+ on the basis of the first point, rotate 60°

P5

Do A- on the basis of the first point, rotate 20°

P6

Do A- on the basis of the first point, rotate 40°

P7

Do A- on the basis of the first point, rotate 60°

P8

Do B+ on the basis of the first point, rotate 20°

P9

Do B+ on the basis of the first point, rotate 30°

P10

Do B+ on the basis of the first point, rotate 40°

P11

Do B- on the basis of the first point, rotate 20°

P12

Do B- on the basis of the first point, rotate 30°

P13

Do B- on the basis of the first point, rotate 40°

P14

Do C+ on the basis of the first point, rotate 30°

P15

Do C+ on the basis of the first point, rotate 50°

P16

Do C+ on the basis of the first point, rotate 70°

P17

Do C+ on the basis of the first point, rotate 90°

P18

Do C- on the basis of the first point, rotate 30°

P19

Do C- on the basis of the first point, rotate 60°

P20

Do C- on the basis of the first point, rotate 90°