MotoCal V EG is an economical software tool that provides five different calibration utilities that improve the absolute positioning accuracy, Tool Control Point (TCP), and tool posture of Motoman robots.
MotoCal V EG does not adjust robot programs by using an optional filter the way that MotoCal does. Therefore, some manual touch-up of robot program points maybe necessary after a mechanical failure.
Absolute positioning accuracy is important for path accuracy in high-precision applications and is essential for off-line programming (OLP). Like any mechanical system, robots are built within manufacturing tolerances. These small differences affect the absolute positioning accuracy of the robot.
- MotoCal V EG can be used to perform five different types of calibration. The robot programming pendant is used to teach the points required for all five types of calibration. All points must be taught carefully and with a high degree of accuracy to ensure optimal results.
- Robot Calibration –
Adjusts absolute data values by teaching five different postures at five different points (a total of 25 points), using the robot teach pendant. This calibration improves the absolute value accuracy of the robot.
- Tool Calibration –
Adjusts tool data values by teaching seven different postures at one point (a total of seven points), using the robot teach pendant. This calibration calculates the exact tool data (TCP). Some form of tool calibration must be completed before the robot can be calibrated.
- Tool Posture Calibration –
An accurate Tool Control Point (TCP) is essential for performing certain motion types, such as linear and circular interpolation. Tool posture is essential to enable the robot to perform linear and circular motion. Tool posture is the angle data which shows the relationship between the flange coordinates and the tool coordinates.
Adjusts tool data by teaching one posture at one point (a total of one point) with the robot. This calibration calculates the exact tool positions (Rx, Ry, Rz).
- Work Piece Calibration (used with MotoSim EG) –
Recognizes positional difference between each robot and work piece, by comparing the robot program created by MotoSim® EG and the program created using the robot teach pendant. MotoCalV EG then converts the position data from MotoSim EG into position data for the actual robot by using the calculated positional difference obtained between the robot and the work piece.
- Layout Correction (used with MotoSim EG) –
Layout correction is composed of “robot layout correction” and “travel axis tilt correction.”
“Robot layout correction” corrects the robot layout in the cell constructed by MotoSim EG for the actual robot layout by comparing the job created by MotoSim EG and the job created with the actual robot. “Travel axis tilt correction” corrects the robot layout in the cell constructed by MotoSim EG for the actual robot layout by calculating the positional difference between the travel axis and the robot positioned on the travel axis.
MotoCal V EG uses points taught by a programmer, and then correlates the actual taught points versus the theoretical points using a software algorithm (unlike the full-featured MotoCal package that uses an external encoder and measurement cable to correct the absolute values of the robot).
A model-specific hardware tool used exclusively for robot calibration is available as an option. This tool provides an ideal TCP offset, which in turn delivers the best possible robot calibration results.
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- Economical calibration tool to improve robot accuracy
- Ability to manually calibrate robot with a laptop computer
- Improves off-line programming accuracy