CALIBRATE monitor command CALIBRATE monitor command Syntax CALIBRATE mode Function Initialize the robot positioning system. Usage Considerations Normally, the command is issued with no mode specified. The CALIBRATE command has no effect if the DRY.RUN system switch is enabled. If the robot is to be used, the CALIBRATE command (or instruction) must be processed every time system power is turned on and the eV+ system is booted from disk. Many robot models are configured to automatically invoke calibration when the system is powered up.
Some robot models cannot be moved with the manual control pendant or under program control if the robot is not calibrated —that is, until the CALIBRATE command (or instruction) has been processed. It may be possible to move other robot models with the manual control pendant (but only in JOINT mode) when the robot is not calibrated. If multiple robots are connected to the system controller, this command attempts to calibrate all the robots in sequence, unless they are disabled with the ROBOT system switch. All of the enabled robots must be calibrated before any of them can be moved under program control.
If the optional front panel or a remote front panel is installed, the controller keyswitch must be set to AUTOMATIC mode for this command to be processed. The CALIBRATE command may operate differently for each type of robot. The CALIBRATE command generally causes all the robot joints to move (see Details). The positions from which the CALIBRATE command can be issued depend on the type of robot being controlled. For Omron Adept robots, the only restriction is that 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. eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 45