18
Figure 2-14 Four-axis robot encoder battery
Note: When replacing the battery, the robot needs to return to zero position, and use
the motor brake to lock the robot joint. After the replacement is completed, the zero point
needs to be re-calibrated. If you accidentally lose the zero position, you need to recalibrate.
2.3.3 Twenty-point correction method
Before calibration, it is necessary to ensure that the robot's link parameters, reduction
ratio, and coupling ratio are accurate, and the zero position needs to be within the
allowable deviation.
The specific calibration steps are as follows.
Step 1: make two tip calibration rods (the sharper the better), one is installed at the
center of the tool to be calibrated (you can use the tip of the tool itself, such as welding
wire, but you need to sharpen it), and the other is placed horizontally at work on stage (not
movable).
Step 2: Create a new file on the teach pendant and customize the file name.
Step 3: Open the program. Run the robot in manual teaching mode, align the two tip
calibration rods, then add a joint motion command, repeat the above steps, and record a
total of 20 points (see Figure 2-16 and Figure 2-17 for posture). As shown below:
