一旦你有了校准序列可以运行run some validation tests. These validation tests can be in the same location of the sensor or different locations.

Important: It is not possible to combine multiple calibration sequences done in different locations of the linear gage. You can calibrate the robot more than once in the same location and all data collected in the same location of the sensor will be used for calibration.

Validate the tool calibration

SelectValidatefrom the Wizard. The calibration data will be used to calculate the TCP (excluding robot calibration). You will then be directed to theAnalyzetab of the wizard. The calculated TCP will be displayed, and some statistics will provide estimated errors for the calculated TCP.

SelectValidationto display a summary and some statistics about the results. These statistics correspond to the planar errors detected by the sensor.

Robot Automatic Calibration TwinTool - Image 23

Tip: Taking more measurements for calibration can remarkably improve the calibration results. You can change the sensor target measurement (for example, use an 8 mm target after the default 4 mm target for a second calibration). You can also change the robot configuration to take measurements on the same point but with different joint angles (for example, using the flip and non-flip configurations).