11 Safety Function
11.4 Functional Safety Functions
11-95
HW1485509
HW1485509
3. After moving the manipulator to a recommended position, select one of
the following methods to calibrate torque sensor offset value(s):
A. Standard Option: All Axes Update
Press the {CALIBRATE ALL TORQUE SENSORS AT CURRENT
POSITION} to update all torque sensor offset values. This method is
recommended for most cases.
B. Advanced Option: Single Axis Update
Press a {CALIBRATE AXIS} to update the torque sensor offset
values of a single axis. This method may be used when only a few axes
require calibration.
Example: If a user swaps tools for one with dramatically different physical
properties, the T-axis torque sensor may drift due to the large change of
the attached load. The geometry of this new tool may prevent the user
from moving to one of the recommended positions while attached. Thus,
a single axis calibration for the
T-axis can be performed at its zero-torque position (refer to fig. 11-1
2
“Torque Sensor Calibration Positions”).
C. Advanced Option: Manual Update
Enter offset values manually. This method may be used if the
YRC1000 Controller or its internal boards (CPU or PFL) are replaced and
the previously recorded offset values are available.
No
te: “Advanced Options” checkbox must be checked to manually edit
these values.
Fig. 11-13: Torque Sensor Calibration
“Advanced Options” checkbox must be checked to calibrate
axes individually.
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