Calibration Types
The table below lists the seven Calibration Types. These calibration types determine how the mechanical origin is determined during MCal.
| Cal Type | Number of sensors | Sensor Status when calibration is complete | Standard Number of Steps | Accuracy*1 | Calibration Time*2 |
|---|---|---|---|---|---|
| 0 | 1 | OFF | 2 | C | Shorter |
| 1 | 1 | ON | 2 | C | Shorter |
| 2 | 1 | OFF | 4 | B | Longer |
| 3 | 1 | ON | 4 | B | Longer |
| 4 | 2 | OFF | 4 or 5 | A | Longest |
| 5 | 2 | ON | 4 or 5 | A | Longest |
| 10 | 2 | ON | 2 | C | Shortest |
*1: A is highest accuracy followed by B and then C.
*2: Complete the calibration of each joint within 120 seconds.
Calibration Sequence per Calibration Type
The following conventions and symbols are used in the Calibration Sequence diagram in the following pages:
| Symbol | Description |
|---|---|
| ● or ○ | The starting position of the search for the mechanical origin. |
| ↓ | Pause |
| ▼ | The position for the calibration to complete. (A target origin) |
 | The accelerating or decelerating motion in the direction of arrow while detecting signals. (Dotted Line indicates a motion to return to the origin from outside the Permissible Working Range.) |
 | The motion without acceleration or deceleration in the direction of arrow while detecting signals. |
 | The motion in the slow speed pulse by pulse in the direction of arrow while detecting signals. |
The arrow indicates the two types of operation speed as follows:
| Symbol | Description |
|---|---|
 | Run at the speed as specified in the MCAL tab of the PG Robot Configuration dialog. |
 | Run at the speed as specified in the Origin Edge Detect Speed in the Calibration tab of the PG Robot Configuration dialog. |
The following symbols marked next to ↓ (Pause) in the illustration indicates the duration of time to pause as follows:
- LD
- Pause for delay time as specified in Limit Delay on Calibration tab of the PG Robot Configuration dialog.
- SD
- Pause for delay time as specified in Scan Delay on Calibration tab of the PG Robot Configuration dialog.
- JD
- Pause for delay time as specified in Jog Delay on Calibration tab of the PG Robot Configuration dialog.
Whichever Calibration Type is specified, wiring must be done in such a way to prevent chattering. Also, the following signal conditions must be satisfied:
- Cal Type 0
- ORG pulse width: 1 msec or over
- Cal Type 1
- ORG pulse width: 1 msec or over
- Cal Type 2
- ORG pulse width: 1 msec or over
- Cal Type 3
- ORG pulse width: 1 msec or over
- Cal Type 4
- NORG pulse width: 1 msec or over
- The interval between the NORG signal edge and ORG signal edge: 5 msec or over
- +ZORG/-ZORG pulse width: 10 μsec or over (when a servo motor is used.)
- Cal Type 5
- NORG pulse width: 1 msec or over
- The interval between the NORG signal edge and ORG signal edge: 5 msec or over
- +ZORG/-ZORG pulse width: 10 μsec or over (when a servo motor is used.)
- Cal Type 10
- NORG pulse width: 1 msec or over
- The interval between the NORG signal edge and ORG must be sufficient to enable the robot to stop by deceleration.