Define the zero position offsets

The robolink arms provide reference switches which allow a precise and reproducible referencing. The reference switches are inductive switches with metal pins as set points (motor encoder version) or hall sensors with magnets as set points (AE version).

The sensor positions are not the robots zero positions. Each joint module stores an offset value that defines the difference between the reference position and the zero position in encoder tics.

When the combination of robot and control have been provided by CPR then these offsets are already defined in the modules. They are also written on the quality assurance sheet. If robot and control are not provided in combination the following steps should be performed.

This page shows how to find the offsets for your robot and how to set the into the joints modules.

1. Setting the offsets to zero sdf

2. Referencing the robot sdf

3. Moving the robot into zero position sdf

4. Calculating the offsets sdf

5. Uploading the offsets to the modules sdf

6. Final Test sdf

7. Documentation Please write down the offsets or store the .dat file in a folder different then the CPRog program directory. When you update CPRog you custom .dat file might be overwritten. So it is necessary to store your custom file in a different location.