Calibration of manipulator axes

How to change the reference positions of 6 manipulator axes

In case of problems with communication between the MultiAx program and the manipulator it can happen that calibration of the axes is not correct anymore. It may happen, for example, if you see that coordinate values in the MultiAx window are changing while motors are not actually moving.

To recalibrate one axis go to Settings tab and type in the password (provided by the beamline scientist), then press the Unlock button.

Select the axis and press begin calibration. Set the actual position as determined from the rulers on the motors or visually from the camera image.

• Move x and y to 4 mm on the rulers --> recalibrate x=0, y=0; Alternatively, read the values on the rulers (arrows mark positiove direction, 4mm mark is 0)

• Recalibrate z according to the value on the z ruler;

• Use tilt to position back side of the manipulator head vertically --> recalibrate tilt=0;

• Align the 2 vertical wires (left camera screen) by polar (correct for backlash) --> polar=0;

• Rotate the sample towards the camera by polar and use azimuthal rotation to make sample holder top edge horizontal (correct for backlash) --> azimuth=0.

Press confirm.

After this axis coordinate will be saved and calibration panel will be locked automatically.

After recalibration your saved positions will not be very precise anymore because of the errors in determination of the positions. Center of rotation for polar map XY correctons may be also slightly shifted.