Validating Calibrated Robots

Description

This procedure has the following success criteria:

  • Both robot tool flanges are disconnected from the Calibration Connector and completely free of screws, alignment pins, and similar hardware.

  • The robot moves to home position.

  • The robot moves to the Go / NoGo position.

  • Go / NoGo is correct and validated with the tool.

Tapping Proceed before removing all screws from the Calibration Tool Connector on the Follower robot can lead to Protective Stops.

  • Verify that all screws are removed and clear the Protective Stops. Then tap Proceed again.

Either robot can enter a Protective Stop while disconnecting.

  • Remove the Calibration Tool Connector and jog the robots to separate them manually.

  • When the robots are separate and the Protective Stop is cleared, the disconnection dialog box reappears on PolyScope, and you can retry the step.
Validating Calibration Results

The results of the dual robot calibration are permanently saved after a successful validation.

When the calibration is completed, remove the connector to continue the validation.

PolyScope prompts you to remove the screws from the Follower robot's tool.

  1. Remove the screws from the Follower robot's tool.

  2. Tap Proceed.

  3. The Follower robot enters Freedrive.

  4. Move the robot away so that it cannot collide with the tool.

  5. Tap Proceed.

  6. Remove the tool from the Leader robot's tool.

  7. Tap Proceed.

  8. The robots move to home position.

  9. Verify that the robots are in home position.

  10. The robots move into the Go / NoGo position.

  11. Use the Go / NoGo tool to verify that the distance between the tool flanges is within 2.5 mm.

    • Verify that the 1.5 mm Go tool can pass between the robots' tool flanges.

    • Verify that the 3.5 mm NoGo tool cannot pass between the two robots' tool flanges.

  12. When the Verify position dialog appears, tap Proceed to verify the robots' home position.

 

  1. Save the calibration and tap Exit.

  2. In the header under Run, tap the Exit icon to exit Expert Mode.