5 - Payload Calibration in Flair 7¶

▶ 5 - Payload Calibration in Flair 7 — Watch on YouTube

when you mount the camera on you have to when you mount the camera on you have to calibrate the payload because depending calibrate the payload because depending calibrate the payload because depending on what accessories you have on it what on what accessories you have on it what on what accessories you have on it what camera the weight of it to be able to camera the weight of it to be able to camera the weight of it to be able to turn on free Drive which allows you to turn on free Drive which allows you to turn on free Drive which allows you to basically move it around freely like basically move it around freely like basically move it around freely like this and be able to let go and it not this and be able to let go and it not this and be able to let go and it not kind of shoot up because it thinks the kind of shoot up because it thinks the kind of shoot up because it thinks the camera's much heavier or fall to the camera's much heavier or fall to the camera's much heavier or fall to the ground because it thinks the camera is ground because it thinks the camera is ground because it thinks the camera is much lighter and therefore the payload much lighter and therefore the payload much lighter and therefore the payload is wrong you basically have to calibrate is wrong you basically have to calibrate is wrong you basically have to calibrate it and the way you do this before after it and the way you do this before after it and the way you do this before after you change the payload is you you change the payload is you you change the payload is you effectively go through a sequence which effectively go through a sequence which effectively go through a sequence which is now done in flare used to be done is now done in flare used to be done is now done in flare used to be done through the robot's own software but through the robot's own software but through the robot's own software but it's now done with INF flare which I'll it's now done with INF flare which I'll it's now done with INF flare which I'll show you show you show you now so in now so in now so in flare we effectively go into system flare we effectively go into system flare we effectively go into system calculate calculate calculate payload and we go through a sequence so payload and we go through a sequence so payload and we go through a sequence so first of all we store the first position first of all we store the first position first of all we store the first position so that can be any position this is a so that can be any position this is a so that can be any position this is a good position and it gives you good position and it gives you good position and it gives you instructions effectively to calculate instructions effectively to calculate instructions effectively to calculate payload move the last three robot axes payload move the last three robot axes payload move the last three robot axes that is the Tilt the pan and the that is the Tilt the pan and the that is the Tilt the pan and the roll to four distinct positions and roll to four distinct positions and roll to four distinct positions and store each one when all the poses have store each one when all the poses have store each one when all the poses have been stored the payad parameters will be been stored the payad parameters will be been stored the payad parameters will be automatically applied to robot automatically applied to robot automatically applied to robot controller okay uh so we're going to controller okay uh so we're going to controller okay uh so we're going to store store store this okay now we're going to move it this okay now we're going to move it this okay now we're going to move it somewhere else so we it it you have to somewhere else so we it it you have to somewhere else so we it it you have to choose specific positions that are far choose specific positions that are far choose specific positions that are far enough enough away from previous enough enough away from previous enough enough away from previous position so I'm first going to start position so I'm first going to start position so I'm first going to start with the Tilt so I'm going to tilt with the Tilt so I'm going to tilt with the Tilt so I'm going to tilt up and once it's far enough up and once it's far enough up and once it's far enough away effectively that message will go away effectively that message will go away effectively that message will go away okay I'm going to do that then I'm away okay I'm going to do that then I'm away okay I'm going to do that then I'm going to move my pan a bit let say going to move my pan a bit let say going to move my pan a bit let say this and the message has gone away so this and the message has gone away so this and the message has gone away so I'm going to store this okay now I'm I'm going to store this okay now I'm I'm going to store this okay now I'm going to move it to another position so going to move it to another position so going to move it to another position so this time I'm going to pan round this time I'm going to pan round this time I'm going to pan round this way and I'm going to roll my camera that way and I'm going to roll my camera that being careful of course with the cables being careful of course with the cables being careful of course with the cables and the camera is not going to hit anything okay it's gone away stall that anything okay it's gone away stall that and now final position I'm going to til and now final position I'm going to til and now final position I'm going to til back down way that's reckon that's far enough away way that's reckon that's far enough away so store that okay and it's worked out so store that okay and it's worked out so store that okay and it's worked out that the payload is 5.1 kilos and this that the payload is 5.1 kilos and this that the payload is 5.1 kilos and this is where the center of mass is the is where the center of mass is the is where the center of mass is the center of center of center of gravity uh but I'm going to stall that gravity uh but I'm going to stall that gravity uh but I'm going to stall that okay and you can then test it being wary okay and you can then test it being wary okay and you can then test it being wary holding it steady to make sure it holding it steady to make sure it holding it steady to make sure it doesn't suddenly move up or down I'm doesn't suddenly move up or down I'm doesn't suddenly move up or down I'm going to turn on free Drive okay and I going to turn on free Drive okay and I going to turn on free Drive okay and I can now move it freely and I should be can now move it freely and I should be can now move it freely and I should be able to put it into different poses and able to put it into different poses and able to put it into different poses and just let go of it like just let go of it like just let go of it like that now it's important afterwards to do that now it's important afterwards to do that now it's important afterwards to do what it says here which is to make the what it says here which is to make the what it says here which is to make the change permanent either store in the change permanent either store in the change permanent either store in the kinematic setup or save the robot kinematic setup or save the robot kinematic setup or save the robot controller program to store it in the controller program to store it in the controller program to store it in the robot controller program you have to do robot controller program you have to do robot controller program you have to do that by accessing it through here which that by accessing it through here which that by accessing it through here which I'm not going to do I'm just going to I'm not going to do I'm just going to I'm not going to do I'm just going to store in flare store in flare store in flare so I'm going to go back to my so I'm going to go back to my so I'm going to go back to my program and program and program and setups kinematic setups kinematic setups kinematic setups and then I'm just going to save setups and then I'm just going to save setups and then I'm just going to save this you will see that the payload here is here you can of course change here is here you can of course change these manually as these manually as these manually as well but it's it is better to calculate well but it's it is better to calculate well but it's it is better to calculate it very accurately especially the it very accurately especially the it very accurately especially the offsets Okay and then you just apply and save as well as getting to the payload save as well as getting to the payload menu from menu from menu from here there's also a shortcut button here here there's also a shortcut button here here there's also a shortcut button here on the side menu to get you there as on the side menu to get you there as on the side menu to get you there as well