Calibration types
Different procedures correct different sources of error.
| Type | Determines | Recheck after |
|---|---|---|
| Motor offsets | Encoder reference relative to mechanics. | Motor or horn mounting changes. |
| Joint ranges | Minimum and maximum movement. | Assembly, repair or limit changes. |
| TCP | The tool’s working point. | Changing the gripper or tool. |
| Base | Base frame in the working coordinate system. | Moving the base relative to that system. |
| Camera intrinsics | Projection and lens distortion. | Optics, focus or image-mode changes. |
| Camera-to-robot transform | Relationship between camera and arm/base. | Moving the camera or changing its mount. |
Order
Start with mechanics and IDs, then offsets and ranges. After checking movement, refine the tool point and camera transforms. Save the profile configuration and verify it with a small test. Do not try to fix geometry errors by changing motor addresses randomly.
Where to work
Calibrate motors saves offsets; Calibrate robot records ranges; Camera calibration calculates camera parameters. TCP and base are covered by relevant course steps and settings provided by the selected model.
Controls
| Button or field | Action and result |
|---|---|
| Save in Calibrate motors | Applies to motor neutral offsets. It does not save a tool working point or lens parameters. |
| I'm done in Calibrate robot | Saves ranges to the selected profile. Check the final message; the moved-joint count does not measure mechanical calibration accuracy. |
| Save in Camera calibration | Saves calculated camera intrinsics. A calculation result and confirmed saving are different states. |
| TCP and base in an exercise | Use the measurements and points required by the current task. Do not transfer a millimetre value into a field labelled metres. |
Compare the interfaces in Calibrate motors, Calibrate robot and Camera calibration. Each procedure has its own save control and result.