Calibration
Match sensor readings, robot geometry and the working task.
Why calibrate?
Different calibrations address different errors. Correct joint zeroes do not establish a pen tip location or lens parameters.
| What changes | Procedure |
|---|---|
| Joint neutral positions | Calibrate motors or the corresponding stage of module 3. |
| Joint operating ranges | Calibrate robot. |
| Lens parameters | Camera calibration using a target. |
| Tool tip position | TCP calibration in the tool-use module. |
| Work plane / base position | Base-frame calibration in the relevant exercise. |
Before starting
- Select the correct model and saved robot.
- Check IDs and mechanical fastenings. Software calibration cannot repair incorrect assembly.
- Clear the workspace. Position the arm manually only with the holding state required by the procedure; never force mechanical stops.
- Follow the HOME image for your exact model and the tool instructions.
Check the result
After saving, compare several poses: the real arm and 3D model should move consistently. Start with a small movement away from limits. A constant offset, wrong direction or mismatched joint means you should stop and check the model, IDs, assembly and calibration.
The 36-count low-resolution encoder in module 3 is a software teaching simulation, not the physical first motor’s encoder specification.
When to repeat
Check affected joints after changing horn positions, servos or geometry. A new tool changes the TCP. Camera focus/resolution changes affect intrinsics; moving the camera changes its transform relative to the robot. Moving a saved record to another computer does not itself change geometry.
Controls
| Button or field | Action and result |
|---|---|
| Set motor IDs → Assign ID | Assigns an address to the single connected motor. Skip omits writing; a completed wizard does not prove that a skipped motor is configured. |
| Calibrate motors → Save | Writes offsets after manually setting the correct starting pose. Joint indicators on this screen are not control sliders. |
| Calibrate robot → I'm done | Ends range collection. Check movement of every joint before clicking; an available button does not guarantee complete measurements. |
| Camera calibration → Detect board / Begin capture | The first checks the printout in the frame; the second starts automatic movement and capture after preparation. |
| Profile → Export | Saves a copy of the robot configuration. Check that calibration was successfully saved to the profile before exporting. |
Open the detailed procedure: offsets, ranges or camera. These articles show the panels and explain final messages.