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Answered 7th Axis Rail Mastering

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Dimitry Vasilkov

Hello , 

We have M16iB with 7th Axis Rail. As a part of periodic maintenance , we encounter a position offset of 2mm in rail axis. Anyone has idea how to perform mastering on this 7th axis rail ?

 

 

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    Chang Thriving
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    Hi Dimitry,

    The 7th axis of the robot is considered for the motion model which is influencing the direction and speed of the TCP motion. This is requiring certain Kinematics based relationship among 7th axis of the robot and $ROBROOT to be well-calibrated.  This in return is allowing the robot for having a movement along the rail on a constant manner and is also allowing the robot to follow certain rotating motion on its 7th axis.

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    Dimitry Vasilkov
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    Can you please elaborate more ? 

    I am not getting your point 

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    Chadwick Dockstader
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    Dimitry Vasilkov

    7th Axis Mastering is performed same as the robot mastering. Move your Rail to zero mark position. A pin you can slide into the rail when the 7th axis is physically at zero.

    Here is the link you can refer for quick mastering 

    Link :- https://forum.diy-robotics.com/hc/en-us/articles/360035963372-Quick-Mastering-Procedure

     

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