4. Calibration in Lab

After assembly, calibrate home offsets, then motion ranges. For a follower/leader pair, calibrate each arm separately using the correct model and port. Camera calibration is an additional step after the camera is fixed in place.

1. Prepare and connect

1. Secure the base and clear the workspace.
2. Check power, cables and all six unique motor IDs.
3. Open Lab, select the matching model and USB, and allow access to the board port. Close any other tab or program using that arm if the port is busy.
4. Keep power disconnection accessible. Do not force a motor that is actively holding position.

2. Home offsets

Open Calibrate motors. This sets the offsets used to display joint angles in Lab.

1. Ensure all six motors are connected to the board.
2. Follow the tool’s home-position instructions: carefully place the joints straight forward and match the displayed reference rather than the arm’s as-assembled pose.
3. Press Connect robot, select the correct model and port, and follow the calibration steps.
4. Wait for saving to finish. Do not disconnect power while values are being written.

3. Motion ranges

Open Calibrate robot to record the actual range of each joint.

1. Make room around the arm and ensure the cables have enough slack.
2. Press Connect robot and follow the tool’s measurement sequence.
3. Stay within each joint’s mechanical travel. Never force a hard stop to obtain a larger range.
4. Finish the procedure and wait for confirmation that it has been saved. Continue with small test movements.

4. Camera, if fitted

Camera calibration estimates lens parameters using a checkerboard. Use it for tasks that derive measurements from images; it does not replace motor calibration.

1. Fix the camera in its final position and prepare the checkerboard specified by the tool.
2. Sign in to Lab. On first use, the tool requests the OpenCV dependency.
3. Select the camera and follow the capture instructions, showing the board at different positions and angles without motion blur.
4. Save the result. Repeat calibration if the camera is moved or refocused.

When to repeat

After replacing a motor or rebuilding a joint, repeat home and range calibration, then test movement. Recalibrate the camera after changing its mounting.

Next: verify the result →