Referencing robolink
The robolink arms provide reference switches which allow a precise and reproducible referencing. This page shows how the referencing is done and how it can be adapted.
Why is this necessary? The joint electronics store the last position of the robot also during power off. But it might be that the joints are moved by e.g. gravity or manual force when the robot is switched of. Then collisions might occur when a program is started. Therefore the Cartesian motion and starting programs is only allowed when the robot has performed a referencing after start up.
1. Performing a referencing
The robot should be jogged manually close to the reference switches, then the referencing is initiated. In the standard configuration the single joints will then perform a sweep motion with increasing amplitude until it finds the reference switch. Then it performs a slower approach motion from both sides of the reference point to precisely find the center of the reference point.
- Switch on the robot and start CPRog
- Connect / Reset / Enable the robot. Now the status light on the left corner of CPRog is green.
- Jog the robot arm on the or close to the reference switches. Indication:
- The orange light on the stepper modules of the the control an on when the reference point is reached
- In the version with motor encoder the reference switch on the robot lights up in yellow color
- Open the referencing dialog by pressing on the button Configure "Robot \ Reference Robot" in the menu on the upper left circle
- The robot has to be enabled to start referencing
- Reference the first joint:
- Pay attention that the joint can move without collision
- Press the "Start Referencing Joint 1" button on the dialog
- Wait until the reference motion ended
- Now the status in front of the button should be "Referenced"
- Proceed with the other joints as with joint 1. You can reference several joint at the same time
- When all joints are referenced you can close the dialog and proceed to operate the robot
2. Adapting the reference motion
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For questions or comments please get in contact with us: info(at)cpr-robots.com
