Verifying the Calibration and Motor Direction

Procedure Overview

Perform the following steps to verify the calibration and motor direction:

Verifying the calibration
Verifying the motor direction of rotation
Moving the upper arms to mounting position

Verifying the Calibration

Step	Action
1	Open the brakes.
2	Carefully rotate an upper arm inwards until one ball pin contacts the limit stop on the underside of the housing (1). The following figure shows the upper arm of robot VRKP1/VRKP2 at the calibration position: The following figure shows the upper arm of the robot VRKP0/VRKP4/VRKP5/VRKP6 at the calibration position: For further information, refer to Calibration of the Robot Mechanics.
3	Verify that the angle indicated corresponds to the following value: For VRKP0: -187.3° (+/-0.1°) For VRKP1: -166.7° (+/-0.1°) For VRKP2•••WD: -164.0° (+/-0.1°) For VRKP2•••NC: -164.9° (+/-0.1°) For VRKP4: -184.5° (+/-0.1°) For VRKP5: -183.2° (+/-0.1°) For VRKP6: -183.6° (+/-0.1°)
4	Move the arm outwards again until it is in a horizontal position (motor position ~0°).
5	Repeat the process for all upper arms.

Verifying the Motor Direction of Rotation

Step	Action
1	Slowly move the upper arms in manual mode, upwards and downwards. NOTE: Upwards (mathematically) is a positive change of an angle and downwards (mathematically) is a negative change of an angle.
2	Verify that the direction of rotation is correct.
3	Verify that the parameterized motor moves and the motors A, B, C are arranged in a counterclockwise position.

For further information, refer to Allocation of the Sercos Addresses.

Moving the Upper Arms to Mounting Position

Step	Action
1	Slowly move the upper arms in manual mode to the mounting position for mounting the telescopic axis and the lower arms as shown in the following figure.