After doing some short-circuit in the inbox as described in the book along with the robot opening the " PREV and NEXT 'button to press together ' UNIT, START' I started in options. I did not in any way can not move at first. After a while I read the book I started working on robots. All software had entered a very different situation. ' RJ2 420 IR W' robots when I was finished batteries. I want to tell my problem from the beginning. Added details if you help someone in a way I'm very happy. Racermike123 and DuhbCakes My thank you for your interest.įanuc ' RJ2 420 IR W somehow I can not calibrate my robot. this will NOT give you the correct mastery, but it will give you the SAME mastery that you had before which is what you want. adjust the joint in question untill it reads properly and single axis master it. put a dial indicator or a feeler gauge and there and run the robot there. otherwise you are left with setting up a reference point somewhere in your cell that is saved in JOINT representation so that when the world frame is recalculated it still attempts to go to the same point in physical space. i have not worked with it yet, but i hear it works great as long as you have the space in your cell. they have iRCalibration to do it with cameras. This changes the relationship between zero degrees and the encoder count.įanuc makes a couple of tools to recover mastery on robots, the fixture mastery involves replacing the EOA with some dial indcators and touching off of the robots base. Master encoder count = -17521654 = this number recalculated by based on the robot form factor. Master angle = ZERO (because you told it to) In a Zero mastery you are providing all of the information. The robot will calculate the real world angle (within one motor rev) if you provide the robot with two pieces of information, it can provide the other one. the quick mastery data will find the current angle based off of this relationship, and correct the real world angle. i back calculated the master position for a robot once, and it appeared to be the way it would sit in a jig as they build it. the count is a 32 bit number and i want to say the first 18 bits are for the motor revolutions. It is important to note that the master counts from the factory don't actually all refer to 0 degrees. The relationship between the angle and the encoder count must remain static in order to restore mastery properly. Reference encoder counts (encoder position and motor revolutions) In mastering any joint you have several pieces of information that have to be considered.Ĭurrent encoder count (encoder position and motor revolutions)Įncoder count at mastered zero (encoder position and motor revolutions) most of the time a small error is not an issue, and user frames help reduce this error further. it will not be able to make right angles, and your frames will be warped. it will happily go about its business but the robot will be the wrong shape. the robot will take the current encoder counts and form a relationship between them and the angle. Zero mastering an axis is you telling the robot that you know the axis is at exactly 0 degrees.
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