8 Zero Calibration
202208081959/V0.1
46 xMate ER7Hardware Installation Manual
After replacing the encoder battery.
8.2 Calibration method
8.2.1 Soft calibration
Soft calibration is a method to quickly calibrate the zero position of the robot. The xMate
ER7 flexible collaborative robot provides visual triangle calibration slots at each joint of
the robot. To calibrate the zero position, rotate the joint slowly until the triangle slots on
both sides of the joint are aligned, as shown in Figure 37.
Figure 37. Axis 1 triangle calibration slot alignment
8.2.2 Mechanical calibration
Axes 1 to 4 of xMate ER7 are calibrated with a combination of calibration pins and slots,
while Axes 5 to 6 with calibration slots only. You can calibrate only one axis at a time. The
specific procedure is as follows.
Step 1: Remove the rubber ring
The xMate ER7 robot has a black rubber sleeve at the rotary position of each axis. Before
calibration, push the rubber sleeve of each axis onto the link, as shown in Figure 38.
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