SetCalibrationCfg#

If your robot has undergone our optional calibration service, you can use this command to disable the calibration and revert to the robot’s nominal parameters (such as link lengths and joint offsets). Calibration can be re-enabled at any time.

Use the GetRobotCalibrated command to check whether your robot has been calibrated.

Syntax#

SetCalibrationCfg(e)

Arguments#

  • e: calibration enabled (1) or disabled (0).

Default values#

This setting is persistent and retained after a power cycle (a reboot).

The factory default is 1 (calibration enabled), even if the robot has not been calibrated.

Responses#

  • [2170][e]

Further details#

Note that after enabling calibration, and if it had been performed by Mecademic, the robot will move to slightly different (and more accurate) end-effector poses when executing Cartesian-space motion command. However, the resulting motion from MoveJoints and MoveJointsRel will remain unchanged.

Also, when moving a calibrated robot using Cartesian-space commands, never move close to wrist and shoulder singularities, as the robot may behave unexpectedly.

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

In cyclic protocols, the SetCalibrationCfg command is represented by MotionCommandID 156. See Section 4.2 for more details.