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Tool calibration robot Motoman MH80 controller DX100

#1
hello.
i wanna calibrate the tcp of my robot. i am using robot motoman mh80 with torch already attached on it. i know robodk provide feature for calibration tool via online programming, but in my case, i cant connect my robot to robodk in online way. so, i did calibration manually on the pendant. here's the result of my manual calibration for tool 6: torch1.
   
and i have a example application that i got from my motoplus, its called Full API. so i could control/move the robot based on the degree or pulse of the joints and move the tcp incrementally. with the appliaction, i could assign tool i wanna use, it is tool 6, and move the tcp of the robot. i got the tcp could stay in the same position and i assume the calibrate satisfy with this application. and then, i tried with robodk to prove my calibration. i made a simple project that the robot just move with same positon but different posture/oriantation. i generate the program and run it on the robot, the result not the same with before. the tcp cannot go to the same postion that i want. i used 5 different oriantation/posture, and all of them make different position. I don't know which part is wrong. Can you tell me how I can fix this?

here's i attached the project. it has 5 program to do 5 different posture/oriantation  of the robot.


Best regards,

Ilham


Attached Files
.rdk   Calibration tool.rdk (Size: 2.7 MB / Downloads: 6)
#2
When working with Motoman robots in RoboDK, it is important to update the pulse per degree information using the ALL.PRM file.

You can find more information in our documentation:
https://robodk.com/doc/en/Robots-Motoman...omanPulses

Once imported, you can re-generate the programs from RoboDK.
Please read the Forum Guidelines before posting!
Find useful information about RoboDK by visiting our Online Documentation.
#3
I have manually updated the pulse/degree information. However, the result is still incorrect. The reason why I updated the pulse/degree value manually is because I cannot import the ALL.PRM file. Every time I try to import the ALL.PRM file, this screen always appears.
   
Do you have any suggestions to solve this problem?
#4
Please make sure you are using the latest version of RoboDK.
Also, it is necessary to set the Python-Embedded interpreter on the Tools - Options - Python tab:

   
#5
I have updated the pulse/degree information to the correct value. However, when I run the program, the TCP still does not move as I want it to. I used 5 different oriantation/posture, and all of them make different position.
#6
Can you share more information about this issue? Such as the targets that don't match, the joint values and pulse values seen by the controller, a picture of the robot position, a RoboDK project file with the targets you tested, etc.
  




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