To calibrate the tool (TCP) using TwinTool you need to load the robot in RoboDK and make sure the sensor and the robot are connected. You can optionally model the cell by adding the 3D models of objects and tools. This will allow to automatically avoid collisions.

1.Load the robot:

a.Select File➔Open online library. The online library will show up in RoboDK.

b.Use the filters to find your robot.

c.Select Open to automatically load the robot in your RoboDK station.

d.Alternatively, download the robot file directly from the library (https://robodk.com/library) and open the file with RoboDK (the .robot file).

2.Connect the sensor:

a.Connect the sensor to your computer.

b.Select TwinTool➔ Measure.

c.Make sure the sensor is measuring and measurements are stable.

Note: If you are not able to connect to the sensor right away, you will be able to edit the connection settings and save them for later use during the next steps.

Robot Automatic Calibration TwinTool - Image 7

Important: Make sure the setup is rigid enough for calibration by making sure that vibrations nearby don’t alter the measurements. For example, place the robot on the sensor and try creating small vibrations (such as walking near the area of the sensor). Measurement should remain stable within less than 0.005 mm of noise. If this is not the case, it is strongly recommended to enforce the support of the sensor and/or the robot base.

3.Connect the robot:

a.Select Connect➔Connect robot.

b.Enter the robot IP and port.

c.Select Connect.

Robot Automatic Calibration TwinTool - Image 8

Note: Some robot controllers require following a specific setup or specific software options. More information in the robot drivers section.

4.Select Get Position from the robot connection panel. This step will update the position of the robot in RoboDK.

Customized setup

Important: It is recommended to model your cell load 3D models any objects that can cause collisions with the robot or the tool. If you have a tool that can cause collisions with the robot (or any other potential collisions) it is better to proceed with a customized setup as described in the next section.

You can optionally follow these steps to properly model the 3D environment of you cell.

1.Load the 3D model of your tool and create a tool in RoboDK. More information in the create tool section.

2.Load any 3D files to model the cell. You can load 3D STEP, IGES, STL files. More information in the getting started section.

Note: It is strongly recommended to properly model the cell to avoid collisions.

Tip: If you have a good estimate of the tool center point you can set it up in RoboDK and update the estimated tool to have a faster calibration procedure.

Robot Automatic Calibration TwinTool - Image 9

Calibration Wizard

To start the calibration procedure, simply select TwinTool➔ TwinTool Wizard.

After launching the wizard, you will be guided through the Calibration, Validation, or Simulation setups. This includes setting up the connection to the sensor, ensuring a valid state of the robot and review of key parameters. Follow the steps on screen and refer to the tool tips if you need additional details.

Robot Automatic Calibration TwinTool - Image 15

Important: It is recommended to run the calibration sequence in simulation mode at least once before calibrating on the connected robot.

Important: The simulated sequence may not match the real sequence used for calibration or validation. The robot path is adjusted automatically.

Tip: Save the Joint Target of the robot position on the sensor, using a different name that ‘Calib Target’. You can reuse it to quickly move the robot back into position.

Tip: Set the Estimated tool error to 5 mm or less if you already have a good TCP estimate. This will make the calibration procedure faster.

Tip: Change the joint range in Z and XY to change the range of motion for the robot.

Calibration Setup

Customized setup

Calibration Wizard