Motion Control Instructions Customizing the Calibration Routine The following information is required only if you need to customize the calibration sequence. Most AdeptMotion users do not need to do this. When a CALIBRATE command or instruction is processed, the eV+ system loads the file CAL_UTIL.V2 (see the dictionary page for the CALIBRATE command for details) and executes a program contained in that file. The main calibration program then examines the SPEC data for the robot to determine the name of the disk file that contains the specific calibration program for the current robot, and the name of that program.
The standard routine used for AdeptMotion devices is stored on the system disk in \CALIB\STANDARD.CAL (and the routine is named .standard.cal ). That file is protected and thus cannot be viewed. However, a read-only copy of the file is provided, in \CALIB\STANDARD.V2, as a basis for developing a custom calibration routine that can then be substituted for the standard file. (The name of the robot-specific calibration file and program can be changed using the ACE Controller Config Tools..) 1 See the SPEED monitor command and SPEED program instructions. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 123