CALIBRATE program instruction CALIBRATE program instruction Syntax CALIBRATE mode, status Function Initialize the robot positioning system with the robot's current position. Usage Considerations Normally, the instruction is issued with mode equal to zero. The instruction has no effect if the DRY.RUN system switch is enabled. If the robot is to be moved under program control, the CALIBRATE instruction (or command) must be processed every time system power is turned on and the eV+ system is booted. The robot cannot be moved under program control or with the pendant until a CALIBRATE instruction (or CALIBRATE monitor command) has been processed. NOTE:
Some robots can be moved in joint mode with the control pendant even when they have not been calibrated. If multiple robots are connected to the system controller, this instruction attempts to calibrate all robots 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. The CALIBRATE instruction may operate differently for each type of robot. For robots with non-absolute (e.g., incremental) encoders, this instruction causes the robot to move. In this case, 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.
(See the description of the CALIBRATE monitor command for details of the robot motion.) If the eV+ system is not configured to control a robot, executing the CALIBRATE instruction causes an error. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 105