Friction Calibration

This function automatically calibrates the friction created from the robot axis in A-Series.

Friction calibration is performed during initial manufacturing, and it can be performed again when maintenance is needed. Friction calibration must be done after the robot is sufficiently warmed up to ensure optimized direct teaching and collision detection performance. Performing 3-4 minutes of all-axis movement from a cold start is recommended for robot warm-up. If the robot movement is too fast, if the supporting force is excessive during direct teaching, or if frequent collision detection occurs at default collision detection sensitivity, it is recommended that friction calibration be performed again.

1. Tap the Settings button on the main menu and select Friction Calibration.
2. Select the axis to calibrate friction.
3. Enter the friction calibration start position according to the angle limit range of start position of each axis.
4. Enter the range to measure from the friction calibration start position according to the angle limit range.
   • It is recommended to include the robot operation range as much as possible.
5. Tap the Auto Calculate button.
6. Tap the Motion Check button of the auto measure motion check popup window.
   • Auto measure motion check is performed in sequential order of axes selected after the entire axis moves to the start position.
   • Auto measure motion check stops when the stop button is tapped.
7. After auto measure motion check, tap the Auto Calculate button of the auto calculate popup window.
   • Auto calculate is performed in sequential order of axes selected after the entire axis moves to the start position.
   • Auto calculate stops when the stop button is tapped.
8. When the Auto Calculate of selected axes is complete, the friction calibration result is displayed on each axis.
   • Successful results are displayed in green and failed results are displayed in gray.
9. Tap the Confirm button.

Note

Instances of reapplying friction calibration are as follows:

1. If more than one joint module is replaced
2. If direct teaching does not operate properly even when the tool weight and weight center point settings are correct

Warning

• Friction calibration must be performed with a temperature of at least 40 ℃ (313 K) or higher throughout warm-up for each axis of the robot. Doosan Robotics does not assume responsibility for any robot motion problems or various other issues caused by failing to comply with this condition.