The robot was calibrated using jigs April 30th 2010. Here are the calibration data (most probably obsolete):
D: I?Q #TO
1: YR4 GZT
2: E9K T2E
3: 01P MBN
4: YTY BO@
5: 17$ WFS
6: Z2W 348
Joint | α | a | Θ | d | parameter range |
---|---|---|---|---|---|
1 | -90 | 85 | parameter | 350 | < -170; 170 > |
2 | 0 | 280 | -90 + parameter | 0 | < -92; 135 > |
3 | -90 | 100 | -90 + parameter | 0 | < -107; 166 > |
4 | 90 | 0 | parameter | 315 | < -160; 160 > |
5 | -90 | 0 | parameter | 0 | < -120; 120 > |
6 | 0 | 0 | 180 + parameter | 85 | < -360; 360 > |
The parameters α
(rotation around new X axis) Θ
(rotation around Z axis) are in degress and the parameters a
(translation in new X axis) and d
(translation in Z axis) are in millimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.