66 A255 Robot Arm User Guide
99-04-23
Joint 4
1. Place the 24-inch square in position to check if the tool flange is perpendicular
to the robot’s mounting surface (refer to the drawing on page 64).
2. Use the motor command to adjust the joint so the tool flange is perpendicular.
For example:
Type motor 4, <±
±±
± motor pulse counts> and press Enter.
Joint 5
1. With the joint 5 tool flange approximately at the center of its travel, use the
square to align two of the tool flange screw holes so they are perpendicular to
the robot’s mounting surface (refer to the drawing on page 64).
2. Use the motor command to adjust the joint. For example:
Type motor 5, <±
±±
± motor pulse counts> and press Enter.
3) Set the New Values
1. Type /diag/zero and press Enter to zero the position registers.
2. Type joint 2,90 and press Enter to move the arm to the Ready position.
3. Type /diag/cal and press Enter. At the prompt, type Y (yes). This resets the
controller’s calibration data and homes the arm.
4. If required, pull off and re-apply the homing markers.
Note: New markers can be purchased from CRS Robotics.
5. Type speed 10 and press Enter.
6. Type ready and press Enter.
7. Exit the Terminal Emulator.
8. Use Robcomm-3 to save the new calibration values on a backup disk.
• Choose Calibration Receive from the Setup menu.
• Click Save and then save the values in your selected directory.
Warning! Do not save new calibration values using the original file name. This
overwrites the factory values causing them to be lost.
4) Check Your Locations
1. Re-install the plastic arm covers.
2. Inspect the homing markers and reposition if necessary.
Note: New markers can be purchased from CRS Robotics.
3. If you removed the arm tooling earlier, ensure that it is properly installed,
aligned, and leveled before running your application. Installing the tooling
correctly can be as important as correctly recalibrating your robot arm.
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