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--- ntb:calibration [2019/08/14 14:52] – external edit 127.0.0.1
+++ ntb:calibration [2023/05/24 12:45] (current) – [Calibrating the Delta Robot] ursgraf
@@ Line 1: / Line 1: @@
-===== Calibrating the Delta Robot =====
+====== Calibrating the Delta Robot ======
-If you need to calibrate the positions of the blocks for the Delta robot follow this steps:
+The ''Calibration Sequence'' can be started in the ''System ready'' state. Press the blue button first. While holding the blue button press the green button as well. After calibration is done the robot will be in ''System ready'' state again. From there you can start normal operation as usual.
-  - The Delta robot has to be powered up and running
-  - If the Delta is not in it's homing position:
-     - Press the blue button to stop the normal operating mode
-  - Else:
-     - Press the green and blue button together
-  - Remove all plates
-You have to calibrate the Delta with each plate. Start with plate 0 -> that means no plate is used, and position 0.
+You need to see the output of the loggers as described in [[:run#Get_Output_of_Loggers|Running the Delta Application]]. Carefully follow the instructions given in the log output.
-  - Put the actual plate to the actual position and move the TCP to the center of this position.
-  - Hit the blue button.
-  - Move the TCP inside the gap of the current block only in x and y direction.
-  - Hit the blue button again.
-  - If the actual position is number 3 go to the next step. Else increment the position number and start again with step 1.
-  - If the actual plate is number 3 you are finished. Else use the plate with the next higher number and start again with step 1.
-If you have calibrated all blocks on every position, put all blocks back and press the blue button. The Delta will move to it's homing position.
+You have to place each block (no block, block 1, block 2, block 3) at all four positions and move the TCP around within the limit of the block. While doing so the calibration sequence will record the minimum and maximum values for x, y and z coordinates. To be precise, it will record the z values for all blocks but will record the x and y values just for block 3 (that's the one with the deepest hole). The calibration sequence will then calculate medium values for x and y for all four positions and medium z values for all four positions and four blocks. Finally, it will save these values to a file ///home/ost/bin/delta-sort.conf//.
+The main program will load these calibration data at startup and use it for prescise positioning of the TCP when sorting or shuffling.
+The coordinates of the four positions are approximately as follows
+^no^x^y^
+|0|-0.013|0.02|
+|1|-0.013|-0.02|
+|2|0.028|-0.02|
+|3|0.028|0.02|
+===== Calibration Data =====
+The git repository includes a directory //robotList//. There you can find calibration data for all ntb robots. Instead of calibrating the robots individually, you can copy the right file from there to your robot.