Verifying the Installation

Procedure Overview

Perform the following steps to verify the installation:

Step	Action
1	Mount the calibration tool (1) to one of the upper arms.
2	Open the brakes.
3	Carefully rotate both upper arms inwards until the calibration tool has contact with both arms as shown in the figure above (calibration position).
4	Verify that the angle of both upper arms indicated is: For VRKT1: -101.83° (+/- 0.1°) For VRKT2: -114.31° (+/-0.1°) For VRKT3: -110.75° (+/-0.1°) For VRKT5: -106.12° (+/-0.1°) For further information, refer to Calibration of the Robot Mechanics.
5	Move the arms outwards again until they are in a horizontal position (motor position approximately 0°).

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 and B are arranged as shown in the following figure.

Step	Action
1	Slowly move the robot in manual mode in the direction of an axis of the coordinate system.
2	Verify that the robot moves in a straight line in the direction of the axis.
3	Verify that the robot moves in a straight line in a positive or negative direction of the coordinate system.
4	Repeat the process for all axes of the coordinate system.

In case the robot does not move in a straight line on the path, proceed as follows:

Step	Action
1	Select the robot type when using the `SchneiderElectricRobotics` library.
2	When not using the `SchneiderElectricRobotics` library, verify the correct parameterization of the transformation and the axes.
3	Verify the calibration.
4	Verify the direction of rotation of the drives.
5	Calibrate the robot if required.

In case the robot moves along a straight line but not in the direction of the required coordinate system, proceed as follows:

Step	Action
1	Verify the definition of the coordinate system on the transformation.
2	Verify the definition of the motors in the correct sequence.