Chapter 8: Calibration 63
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Recalibrating the Robot Arm
Recalibrate the robot when there is a drive disturbance, such as the replacement
of a servo motor, encoder, chain, etc.
Note: You must recalibrate even if the replacement part is of the same type as the
one removed.
The following recalibration procedures restore adequate
recalibration for the majority of robot applications. Precise calibration of the robot
can only be obtained when performed with the aid of a calibration fixture. If you
require precise calibration contact your nearest distributor or CRS Robotics.
Procedures:
Recalibration consists of a sequence of four procedures.
1) Establish communication with the robot
2) Adjust all the joints to the Zero calrdy() position
3) Set and save the new calibration values
4) Check your locations
Note: These procedures do not calibrate extra axes. If you are adding an extra
axis refer to page 67.
You need:
• Precision 24-inch square with scale
• Computer with Robcomm3 software
• Your A255 distribution disk, or your own backup, if your system was
previously recalibrated. If the distribution disk is lost, you can obtain a copy
from your nearest distributor or CRS Robotics.
Before you begin:
• Ensure that the arm is securely bolted down.
• Remove the gripper or other tooling attached to the arm. The tooling must be
removed in order to calibrate joint 5.
Tip: Mark the position of the tooling on the arm with a pencil. Use these marks as
guidelines when re-installing the tooling.
1) Establish Communication With the Robot
1. Turn ON the computer and controller.
2. Turn ON arm power.
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