Calibration and profiles

Before you start

Calibration records each assembly's center and usable range. The app stores one calibration profile for each role. Saving a new calibration replaces that role's previous calibration and leaves the other role unchanged. Export a backup first if needed. A recorded range alone does not guarantee safety when using real equipment. Read Safety and follow the guided app procedure.

For a connected arm, open Settings > Arm calibration and select the role. In Arm connections, use Connect for first-time calibration or the role's Recalibrate action when a saved calibration exists. Check that the selected role matches the assembly.

Shared capture sequence

1. Safety preparation: check the work area, support, and starting pose.
2. Center: support the arm and align the joint centers vertically above the base when viewed from the side. Set rotational joints near mid-travel, then follow the center-capture step for the selected role below. The app records the pose with torque off; it does not move the arm upright for you.
3. Base and shoulder: record rotation ranges with a safety margin.
4. Elbow and forearm: record usable ranges without binding.
5. Wrist: record usable pitch and roll ranges.
6. Gripper: follow the role-specific instructions for open and closed limits.
7. Review and save: check the role and ranges, then save with a name that identifies the assembly. This replaces that role's saved calibration.

Do not push into mechanical stops. Do not apply force at the end of travel. Record only ranges with a safety margin. Stop immediately if there is binding, friction, or unusual noise.

Follower calibration

Move follower rotational joints by hand with torque off. Only automatic gripper capture uses motor power for limited movements, as directed on screen.

1. In Arm connections, check the follower role and port. Select Connect for first-time setup, or Recalibrate if a saved calibration exists. To connect a disconnected follower for calibration, disconnect the leader first.
2. Support the arm and turn torque off. Keep torque off while recording rotational joints.
3. Set the upright center pose described above and select Next to complete the safety check and center capture.
4. Slowly move the joint groups requested on screen to record their rotation ranges.
5. Clear hands and objects, then select Calibrate gripper automatically. Keep watching the stop instructions.
6. Review the result, confirm the follower role, and save with a name that identifies the assembly.

Do not touch the gripper during automatic capture. If motion is abnormal, use emergency stop and cut physical power.

After saving, check that:

• The profile name matches the connected follower.
• The header shows calibration ready.
• The motion path is clear before enabling torque.
• Joint directions and limits are checked with small movements.

Combine role, classroom or equipment number, and date in the name. For example, use follower-lab-a-03-20260914.

Leader calibration

Move all leader joints by hand while relaxed to record their centers and ranges.

1. Complete and save follower calibration first. In Arm connections, select Connect for the leader and follow the USB prompts. If no leader calibration exists, calibration opens after identification. Otherwise, use Recalibrate in the leader row, or Settings > Arm calibration > Leader for a connected leader. Wait for preparation and torque-off confirmation; do not proceed if the arm resists movement.
2. Keep torque off and support the arm while moving it by hand.
3. Set the upright center pose and keep the gripper fully closed while selecting Save center pose to save the center. Then slowly measure both sides of each joint in the on-screen order.
4. Manually record the gripper closed and open positions separately. Use the named position, not the numeric ordering, to identify each end. Do not force either end.
5. Save with the leader role and a name distinct from the follower profile.

For leader wrist rotation (ID7), keep the verified upright neutral and measure both sides between the handle stops. The two sides can have different travel. Do not force the handle to match the follower's range.

If a range or center check fails, repeat the capture within the safe mechanical range. Do not force a joint or edit endpoint values to pass a check. Contact support if the error remains.

If the app reports that the leader gripper was not fully closed when the center was saved, restart leader calibration and capture the center again with the gripper fully closed. Do not change endpoint numbers to bypass the check.

Profile management

Before importing or deleting a profile, safely stop motion, support the arm, turn torque off, and disconnect the arm in the app. These actions are unavailable while connected, so active limits cannot change during operation.

Do not interchange profiles between roles. Leader and follower use different procedures and ranges. Similar angle values do not mean a physical pose is safe.

If several calibrations exist for one role, connection stays blocked. Recalibrate that role or import one matching replacement. Use only files with a known source and check the role before confirming replacement.

When saved calibration does not match

If the app reports a homing mismatch, safely stop motion, support the arm, turn torque off, and disconnect it in the app. Open Arm connections, choose that role's Port, and select Recalibrate. Disconnect the leader before connecting the follower for calibration. Follow the guided support, center, and range steps; keep the arm supported until cleanup is confirmed.

If you already have a verified calibration file for this assembly, you can import it through Settings > Arm profile instead. Do not delete profiles or edit stored offsets to bypass a failed check. After saving or importing, reconnect normally and confirm readiness before enabling torque.

Save and recovery checks

Before saving, record two distinct limits for every joint during the current calibration. Automatic powered capture is used only for the follower gripper; measure the leader gripper by hand. Do not force the leader wrist to match the follower travel.

A message that a profile was saved does not mean the robot is ready to use. If torque-off confirmation also fails, cut physical power and resolve the error. Wait for cleanup confirmation after you cancel or receive no response, too. An import replaces the saved calibration for its role; check the role and export any needed backup before confirming.