CALIBRATE monitor command Details When started, the eV+ system proceeds as if the robot is not calibrated and does not let you execute a robot-control program. (Note that the pendant COMP mode light does not come on when the robot is not calibrated.) The robot becomes uncalibrated whenever system power is switched off. As a safety measure, Omron Adept robots also become uncalibrated whenever certain servo errors occur. In the cases that involve loading the main calibration program, the CALIBRATE command loads the disk file "cal_util.v2". For convenience, the loading operation searches for the file in the following directories, in the following order: 1. The current default directory 2.
\CALIB\ on the local disk from which the eV+ system was booted (skipped when the system was booted from the TFTP device) 3. DISK>D:\CALIB\ The calibration program is executed in task 0. If task 0 is already active, the CALIBRATE command fails. The procedure for using the CALIBRATE command follows: 1. Turn on high power by pressing the COMP/PWR button on the manual control pendant. 2. If the robot joints are near the extremes of their ranges of motion, move the joints toward the center of their working range. 3. You must manually position the robot links if this is an initial calibration. You can use the manual control pendant if the robot is already calibrated.
You may be able to use the manual control pendant, if the robot is not calibrated (see earlier text). 4. Type calibrate at the system keyboard. 5. Type y to confirm the operation. NOTE: The system does not ask "Are you sure (Y/N)?" (and the CALIBRATE command has no effect) if the DRY.RUN system switch is enabled. Related Keywords CALIBRATE program instruction NOT.CALIBRATED system parameter eV+Operating System Reference Guide, 2.x,18321-000 Rev A Page 47