Perform a robot arm calibration if the robot arm does not move properly or produces an error.

Steps

  1. On the PAL terminal, enter the Extended User level by pressing the two menu buttons simultaneously.
    2. Extended user level
    Extended user level
  2. Scroll through the menu items and select Robot Arm Left.
    3. Select robot arm left
    Select robot arm left
  3. Press Options, and select Calibrate Motors. Press Calibrate. The system begins an automated calibration sequence.
    4. Select calibrate motors
    Select calibrate motors
    Start calibration
    Start calibration
  4. When prompted on the PAL terminal, unmount the tool by gently guiding the robot arm down so the pins on the tool engage the holes in the slot in the tool change station and then press Eject. This detaches the tool from the robot arm.
    5. Unmount tool
    Unmount tool
    Tool unmount in tool change station
    Tool unmount in tool change station
  5. When prompted on the PAL terminal, move the robot arm down in the tool change station to engage the tool and then press Mount.
    6. Mount tool
    Mount tool
    Tool mount in tool change station
    Tool mount in tool change station
  6. On the PAL terminal, press OK.

NOTE

If the robot arm is stuck in a certain position and cannot be homed or if a collision occurs involving the robot arm, you have to re-calibrate the robot arm.