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DOC No.
：
T202001006
9.8.4.3 Home Position Calibration
The mechanical home position of the manipulator body and the accuracy of TCP can be
calibrated by using the home position calibration function. The operation procedures can be
described as follows:
(1)
Create a program with 20 positions which must be taught with the TCP as the reference point,
and the TCP can be defined by the tip of the calibration cone.
(2)
Go to "Readiness for Operation - Home Position
–
Home Position Calibration".
(3)
Select the above program and the tool number that needs to be calibrated.
(4)
Press [Set] button, and if the calibration data is valid, the information prompt area will
display the following message: "The mechanical home position is calibrated successfully!
(5)
Press [CALIBRATE] button.
(6)
Go back to "Readiness for Operation - Home Position - Mechanical Home Position".
(7)
Hold the Enable switch, and press [RETURN HOME] to move the manipulator back to the
mechanical home position. Then press [RECORD] to record the home position for each axis
respectively.
