Axes Mastering

Question 1

how is the delta vector defined?

Answer 1

vec_ideal - vec_real

Question 2

what is the manual axes mastering workflow for a service?

Answer 2

• run initial mea (MDR?)
• do parid
• get delta-vec
• move robot to delta-vec
• reset axis zeros on Sinumerik
• correct all mea poses accordingly
  (to be adapted)

Question 3

How does one master the axes on Sinumerik?

Answer 3

• Reset
• Set axes MDs 34210 to 1 for active encoders
• Set axes MDs 34100 to calibration position (0° probably)
• Activate Jog, Ref Point, MCS (machine coordinate system)
• chose axis (X-Z, $4-6)
• press +

Question 4

how does one figure out if a bad acccheck is the result of an axes mastering error?

Answer 4

Rerun the axes mastering par8 with free zero positions -> if result is good, then axes mastering solves the problem

Question 5

what does the calibration axes mastering process frame do?

Answer 5

• calculate result as if axes mastering was done, but don’t write anything to zeroPosDeltas in files
• ask whether axes mastering shall be done
• if axes mastering is done, write to meas

Question 6

how does one calculate parid with unmastered axes (for report)

Answer 6

parid menu-> axes mastering -> calculate ignoring joint pos zero delta