6 Robot Settings
6.7 Home Position Calibration
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HW1485509
HW1485509
When at “all zeros”, “Not at Home” will turn green and the “Robot is at
Home Position” indicator confirming the existing Home Position is ready
for verification.
The user should now visually confirm whether the physical arrows on the
Manipulator (i.e. one pair for each axis) are precisely aligned to validate
the calibration of Home Position.
Fig. 6-30: Robot at the Home Position
In the case of arrow misalignment for one or multiple axes, Home Position
Calibration is required. The following sections discuss how to perform the
calibration.
6.7.2 Home Position Calibration Methods
There are three separate methods for Home Position Calibration:
• Calibrate Individual Axis to robot's current axis position
• Calibrate All Axes to Robot's current position
• Manually Calibrate one or multiple axes to known encoder values
The procedure for each of these methods is provided in the following
sections.
The arrow labels on some Robot models may be hard to
find. Refer to the INSTRUCTIONS for the Manipulator
corresponding to its model to find each label and accurately
perform the calibration.
All calibration methods change the zero-position of the
desired axes. This can affect the physical position of the
robot for any previously saved positions.
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