Calibrate monitor command

V+ Operating System Reference Guide

CALIBRATE monitor command

Syntax

CALIBRATE mode

Function

Initialize the robot positioning system.

Usage Considerations

Normally, the command is issued with no mode specified.

The CALIBRATE command has no effect if the DRY.RUN system switch is enabled, or from within DEBUG.

If the robot is to be used, the CALIBRATE command (or instruction) must be processed every time system power is turned on and the V+ system is booted from disk.

The AdeptOne, AdeptThree, and PackOne robots cannot be moved with the manual control pendant or under program control if the robot is not calibrated-that is, until the CALIBRATE command (or instruction) has been processed. It may be possible to move other robot models with the manual control pendant (but only in JOINT mode) when the robot is not calibrated.

If multiple robots are connected to the system controller, this command attempts to calibrate all the robots in sequence, unless they are disabled with the ROBOT switch. All of the enabled robots must be calibrated before any of them can be moved under program control.

If the optional Adept front panel or a remote front panel is installed, the controller keyswitch must be set to AUTOMATIC mode for this command to be processed.

The CALIBRATE command may operate differently for each type of robot. CALIBRATE generally causes all the robot joints to move (see below for details). The positions from which the CALIBRATE command can be issued depend on the type of robot being controlled. For Adept robots, the only restriction is that the robot must be far enough from the limits of the working range that it will not move out of range during the calibration process.

Parameters

mode A real expression that indicates what part of calibration is to be performed:
Value of mode Interpretation
0 (or omitted) Perform a normal calibration of all the robots controlled by the system.
In detail, the following operations are performed:
Load the main calibration program if it is not already in memory.
Execute the main calibration program with the load, execute, delete, and monitor flags set, which causes the robot-specific routines to be loaded, the robots to be calibrated, and the robot routines to be deleted.
Delete the main calibration program if it was loaded. Note that, regardless of whether or not the main calibration program is deleted at the end of the process, the robot-specific routines will have been deleted by the main program.
1 Load the main calibration program if it is not already in memory, and execute the main calibration program with the load and monitor flags set. That will cause the main program to load the applicable robot-specific routines. Note, however, that the calibration process is not performed.
2 Execute the main calibration program (which must already be in memory) with the execute and monitor flags set. That causes the system robot(s) to be calibrated, and all the calibration programs to be left in memory.
3 Execute the main calibration program (which must already be in memory) with the delete and monitor flags set. That causes all the robot-specific calibration routines to be deleted from memory. Then the main calibration program is deleted from memory. Note, however, that the actual calibration process is not performed.

Details

When started, the V+ system proceeds as if the robot is not calibrated and does not let you execute a robot-control program. (Note that the pendant COMP mode light does not come on when the robot is not calibrated.)

The robot becomes uncalibrated whenever system power is switched off. As a safety measure, Adept robots also become uncalibrated whenever certain servo errors occur.

In the cases that involve loading the main calibration program, the CALIBRATE command loads the disk file "cal_util.v2". For convenience, the loading operation searches for the file in the following directories, in the following order:

The current default directory

\CALIB\ on the local disk from which the V+ system was booted (skipped when the system was booted from the TFTP device)

DISK>D:\CALIB\

DISK>C:\CALIB\

NFS>XC:\CALIB\

NOTE: The "flags" are used within the Adept calibration utility program as described in the mode area of the Parameters section (above).

The calibration program is executed in task 0. If task 0 is already active, the CALIBRATE command fails.

The procedure for using the CALIBRATE command follows:

Turn on high power by pressing the COMP/PWR button on the manual control pendant.

If the robot joints are near the extremes of their ranges of motion, move the joints toward the center of their working range.

You must manually position the robot links if this is an initial calibration. You can use the manual control pendant if the robot is already calibrated. You may be able to use the manual control pendant if the robot is not calibrated (see earlier text).

Type calibrate at the system keyboard.

Type y

NOTE: The system does not ask "Are you sure (Y/N)?" (and the CALIBRATE command has no effect) if the DRY.RUN system switch is enabled.

Related Keywords

CALIBRATE program instruction

NOT.CALIBRATED system parameter

SELECT monitor command

SELECT real-valued function