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Calibration

note

_ All instructions concerning the HMI assume you begin on the “Home” screen. To get to the “Home” screen from any other screen, click the back or cancel button until you get there_ .

BoA Camera Calibration Instructions​

The BoA Camera does not require calibration.

EoA Calibration Tool​

The EoA Calibration tool is a high precision metal assembly that is used to calibrate the EoA Tools. The use of this tool is described in 6.4.2.3.

Maintenance and Storage​

To maintain high accuracy and repeatability with the EoA Calibration Tool, the tool should remain in the provided pelican case when not in use and should be protected from rough handling when in and out of the case.

When t​

  • Calibrate

Calibrating the system using the EoA Tool will align the TOF Sensor, EoA Camera, and Laster Scanner. The EoA Tool should be calibrated when:

  • A collision has occurred.

  • A collision is suspected.

  • Any of the sensors on the tool have been adjusted or replaced.

  • The gripper has been adjusted or replaced.

  • The EoA bracket has been adjusted or replaced.

Instructions for Using the Calibration Tool​

  1. Enter Service Mode

  2. Press “Calibrate”

  3. Enter your username and password.

  4. Press “Calibrate”

  5. Ensure the hallway is empty.

  6. Press the flashing green button. 7. Wait for the robot to finish calibration movements. 8. Enter the hallway and place the calibration plate in the gripper with Step 1 facing up (toward the robot).

    • a. The hallway light curtain will be broken, and the system will beep.

  7. Exit the hallway and press the flashing green button.

  8. When prompted, enter the hallway a second time, remove the calibration plate, and replace it in the gripper with Step 2 facing up (toward the robot).

  9. Exit the hallway and press the flashing green button.

  10. Wait for robot to finish EoA Tool Calibration

  11. Enter the hallway and remove the calibration plate from the gripper.

  • a. The hallway light curtain will be broken, and the system will beep.
  1. Press the flashing green button. 15. Press “Ok” to return to the main screen.
note

_ The “Calibrate” button will only be present on the Service Mode Screen if the robot is in its home position and there is not a forklift in the hallway. To send the robot to the home position more quickly, stand on the pressure pad._