EFORT Intelligent Equipment Co., Ltd
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Fi.4-4 Maintenance and Operation Area
4.6 Zero Position Calibration
Zero position calibration is executed to relate the angel of each robot’s angel to the values of
encoder. The purpose if to acquire the values of encoder corresponding to the zero position.
It is completed before the robot leaves the factory and is not necessary in daily operation.
However, it needs to be performed under the following circumstances.
1
）
Replace the servo motor.
2
）
Replace ethe encoder.
3
）
Replace the reducer.
4
）
Replace cables.
4.6.1 Zero Position Calibration Method
Zero position calibration is a rather complex process. Based on the real situations and
conditions, tools with methods and some common problems with solutions are introduced as
follows.
Zero position calibration using software
A laser tracker needs to be used to establish the coordinate system of each joint of the robot
and the system encoder’s reading is set to zero. Zero position calibration using software is rather
complex, so it should be performed by professionals from our company.
1) Mechanical Zero Position Calibration (Line Calibration)
Rotate the marking line of the zero block to the fully aligned state, zero position.
