Calibrating the Main Axes

Procedure Overview

Perform the following procedures to cable the robot:

Preparing the Robot Mechanics for a Calibration Movement
Calibrating the Main Axes

Preparing the Robot Mechanics for a Calibration Movement

Step

Action

1

Remove the parallel rods and the lower arms with parallel plate.

For further information, refer to Replacing the Parallel Rods and Replacing the Lower Arms.

2

Mount the calibration tool to one of the robot upper arms.

3

Release the brakes.

Calibrating the Main Axes

Step	Action
1	Manually move both upper arms to the calibration position so that both arms touch the calibration tool (1).
2	Close the brakes.
3	Calibrate the main axes. For further information, SchneiderElectricRobotics Library Guide, Chapter Using SchneiderElectricRobotics, TSeries.
4	Move upper arms to a convenient position for lower arm mounting or use the calibration mode `MoveToMountPosition` of `SchneiderElectricRobotics` library.
5	Remove the calibration tool.
6	Mount the lower arms with parallel plate to the upper arms and mount the parallel rods. For further information, refer to Mounting the Lower Arms with Parallel Plate and Mounting the Rods for Parallel Linkage.