The wireless communication might introduce a delay in the position output sent from the total station. These delays will be visual in the driving direction when laying out lines. The time delay may cause an error of up to several centimeters.
Perform adjustment of position time offset start and stop.
- Create a DXF file with six lines (0.3 m length and 0.05 m offset in between lines). Alternatively, create lines with the template Geometry Line found in +New job and copy the line with Modify>Copy.
- Make the robot draw the lines with alternating directions, use the settings:
Settings > Robot behavior > Velocities > Spray velocity: 1 m/s
Settings > Robot behavior > Line parameters > Line space (m): 0.0 m
Settings > Robot behavior > Line parameters > Paint ramp up (m): 2.0 m
- Measure the six gaps between the start/end of the lines, e.g. start of line 1 and end of line 2.
Gap = 2x position time offset
- Calculate the average value of the six gaps. Calculating the average error makes the value more precise.
- The position time offset values correspond to half of the negative average gap, e.g. the average gap value is 0.2 m, then the position time offset value is -0.1 s. Note: only negative values are accepted.
- Add the measured value to the existing parameter values in Settings Robot > behavior > calibration.
- Alternatively, repeat steps 2 to 6 until you are satisfied with the adjustment.