12.13 Friction Calibration
This function automatically calibrates the friction created from the robot axis in A-Series.
Friction calibration is performed during initial manufacturing, and it can be performed again
when maintenance is needed. Friction calibration must be done after the robot is sufficiently
warmed up to ensure optimized direct teaching and collision detection performance. Performing
3-4 minutes of all-axis movement from a cold start is recommended for robot warm-up. If the
robot movement is too fast, if the supporting force is excessive during direct teaching, or if
frequent collision detection occurs at default collision detection sensitivity, it is recommended
that friction calibration be performed again.
1 Tap the Settings button on the main menu and select Friction Calibration.
2 Select the axis to calibrate friction.
3 Enter the friction calibration start position according to the angle limit range of start position of
each axis.
4 Enter the range to measure from the friction calibration start position according to the angle limit
range.
It is recommended to include the robot operation range as much as possible.
5 Tap the Auto Calculate button.
6 Tap the Motion Check button of the auto measure motion check popup window.
Auto measure motion check is performed in sequential order of axes selected after the
entire axis moves to the start position.
Auto measure motion check stops when the stop button is tapped.
7 After auto measure motion check, tap the Auto Calculate button of the auto calculate popup
window.
Auto calculate is performed in sequential order of axes selected after the entire axis moves
to the start position.
Auto calculate stops when the stop button is tapped.
8 When the Auto Calculate of selected axes is complete, the friction calibration result is
displayed on each axis.
Successful results are displayed in green and failed results are displayed in gray.
9 Tap the Confirm button.
Note
Instances of reapplying friction calibration are as follows:
1. If more than one joint module is replaced
2. If direct teaching does not operate properly even when the tool weight and weight center point
settings are correct
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