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T3256 INFO: Create a monument point

Article ID: T3256
Date: 4/25/08
Product: EPSON Robot

CREATING A MONUMENT POSITION FOR A SIX AXES ROBOT:

1.)    BACKUP CONTROLLER to have a restore point.

2.)    Choose a point in your workspace that is repeatable and fixed.

3.)    Jog the robot or use the BRAKE OFF command to motion the robot to that point as closely as possible. If you are using tooling to align the robot, ensure that the attached tool is rigid and repeatable.

4.)    When you are in position, record the encoder Pulse values at that position for all six joints (you may do this by looking at your current position in the Jog & Teach screen, or by typing in the PULSE command in Command Window).

5.)    Store those pulse values for that robot in a safe place.

 

It is imperative that the original monument pulse position is recorded before any maintenance or mishap.

If something does occur and you need to recalibrate the robot or recover your taught points, here is how to recover using the monument technique:

 

RECOVERING A MONUMENT POSITION FOR A SIX AXES ROBOT:

1.)    Motion the robot to your monument position. Ensure that robots orientation for Joints 1-6 is in the exact same position as you had when you first taught the monument. Ensure that tooling is also mounted in exactly the same way if you taught the monument with a tool attached.

2.)    In Command Window, use the CALPLS command to type in the original, recorded pulse values for the monument position. For example, if the original pulse values were 45721, 12888, -4512, 3416, -2733, 5472 you should type in: CALPLS 45721, 12888, -4512, 3416, -2733, 5472

3.)    Complete the calibration by typing: CALIB 1,2,3,4,5,6

 

The monument technique should recover your taught points if you have performed internal mechanical maintenance on the robot or after crashes.

A monument position does not recover the robot positions if the entire robot mounting has been moved.

If the entire robot has been moved from its original mounting position, you can try using the LOCAL technique instead. If robot mounting may change, you might want to install dial indicators at the base of the robot to get it mounted back in its original position.

  

CREATING A MONUMENT POSITION FOR A SCARA ROBOT:

1.)    BACKUP CONTROLLER to have a restore point.

2.)    Choose a point in your workspace that is repeatable and fixed.

3.)    Jog the robot or use the SFREE command to motion the robot to that point as closely as possible. If you are using tooling to align the robot, ensure that the attached tool is rigid and repeatable.

4.)    When you are in position, record the encoder Pulse values at that position for all four joints (you may do this by looking at your current position in the Jog & Teach screen, or by typing in the PULSE command in Command Window).

5.)    Store those pulse values for that robot in a safe place.

It is imperative that the original monument pulse position is recorded before any maintenance or mishap.

If something does occur and you need to recalibrate the robot or recover your taught points, here is how to recover using the monument technique:

 

RECOVERING A MONUMENT POSITION FOR A SCARA ROBOT:

1.)    Motion the robot to your monument position. Ensure that robots orientation for Joints 1-4 is in the exact same position as you had when you first taught the monument (Lefty or Righty and U rotation). Ensure that tooling is also mounted in exactly the same way if you taught the monument with a tool attached.

2.)    In Command Window, use the CALPLS command to type in the original, recorded pulse values for the monument position. For example, if the original pulse values were 45721, 12888, -2733, 5472 you should type in: CALPLS 45721, 12888, -2733, 5472

3.)    Complete the calibration by typing: CALIB 1,2,3,4

 

The monument technique should recover your taught points if you have performed internal mechanical maintenance on the robot or after crashes.

A monument position does not recover the robot positions if the entire robot mounting has been moved.

If the entire robot has been moved from its original mounting position, you can try using the LOCAL technique instead. If robot mounting may change, you might want to install dial indicators at the base of the robot to get it mounted back in its original position.



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Last Updated
12th of October, 2015

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