ER7-700 Industrial robot mechanical maintenance manual
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4.5
Zero
calibration
Zero calibration refers to an operation performed to associate the angle of each robot axis with the
encoder count value. The purpose of the zero point calibration operation is to obtain the encoder count
value corresponding to the zero position.
"Zero Calibration" is completed before leaving the factory. In daily operations, there is generally no
need to perform a zero proofing operation. However, in the following cases, the zero proofing operation
needs to be performed.
1) Replace or disassemble the servo motor 2) Replace the encoder 3) Replace the reducer 4) Replace
the cable 5) Plug and unplug the encoder cable
4.5.1
Zero calibration method
Zero proofreading is a relatively complicated process. Based on the actual situation and objective
conditions, the following introduces the tools and methods of zero point calibration, as well as some
common problems and solutions to these problems.
Software zero calibration
The laser tracker needs to be used to establish the coordinate system of each joint of the robot, and the
system encoder reading is set to zero. The software calibration is more complicated and needs to be
operated by the professional staff of our company.
Mechanical zero point calibration (alignment calibration)
Rotate the marking line of the zero mark block to the fully aligned state, namely the zero point.
4.5.2
Mechanical zero calibration of each axis
When re-calibrating the mechanical zero point of each axis of the robot, operate the robot in the jog
mode, make each axis of the robot run to the zero mark mark of each axis, and then enter the zero point
information interface of the robot teaching box to record the correlation of the coordinates of each axis Just
operate. The specific zero calibration method can also refer to the electrical instruction manual provided by
our company.
The mechanical zero distribution of each axis is shown in Figure 4-3:
Figure 4-2 Robot zero position diagram
3
5
J1 zero
J2 zero
J3 zero
J4 zero
J5 zero
J6 zero
