PRODUCT BULLETIN

805 Liberty Lane Product: MotoCal

West Carrollton, OH 45449
937.847.6200
Release Date: 7/21/04
www.motoman.com Part Number: Description:
info@motoman.com
140928-1 Software Program, MotoCal

Description:
MotoCal is a robot calibration system that improves the overall accuracy of Motoman
robots. MotoCal re-masters the robot to provide improved tool center point control.
In addition, MotoCal simplifies offline programming (OLP) by reducing the touch-up
required when transitioning from an OLP package to the actual robot. Likewise, MotoCal
simplifies the process of cloning jobs between two actual robot cells by reducing the
touch-up on the destination robot. The MotoCal package includes the MotoCal software,
an encoder with a measurement cable, a Universal Swivel Adapter, and a MotoCal training
credit. The Universal Swivel Adapter is intended for OLP and cloning applications. The
swivel can be attached to tools up to 19 mm in diameter. An arm-specific tool is an optional
item that is ideal for re-mastering the robot. The arm-specific tool mounts directly to the
MOTOCAL

last axis of the robot. Another MotoCal add-on is the trigger kit, which provides the user
with an automated process for taking calibration measurements.
An enhanced accuracy programming filter (purchased per controller, one standard with the
MotoCal package) is available on NX100, XRC, and MRC controllers and compensates
for robot manufacturing deviations for which the robot controller cannot compensate.
This filter is used to clone jobs from an OLP package to the actual robot or from robot to
robot. Furthermore, a filter can compensate for sag due to a heavily loaded arm. The filter
parameter file resides on the PC and the filtering process is done offline. Once the robot
jobs have been updated on the PC, they can be downloaded to the robot controller. FDE
is provided to transfer files to and from the robot controller. MotoCal can filter positions
in both pulse format and Cartesian format. Jobs containing external axis positions can be
filtered as well.
Features:
• Re-masters up to 6 robot axes for the NX100, XRC, and MRC controller series.
• Determines 6 degrees of freedom (X, Y, Z, Rx, Ry, Rz) for a robot end-effector.
• Includes an enhanced accuracy programming filter to simplify job cloning.
Requirements:
• IBM-compatible PC running Windows® XP.

©2007 MOTOMAN Copies of Product Bulletins can be found on the Motoman iNet on the Marketing web page. The information within this document is the
STANDARD SYSTEMS GROUP proprietary property of Motoman Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written
APRIL 2007, PB-165-B authorization of Motoman Inc. Technical specifications are subject to change without notice.
 PRODUCT BULLETIN
Page 2 of 3
Drawings:

MotoCal Encoder
MOTOCAL

Connection Diagrams

Universal Swivel Adapter

©2007 MOTOMAN Copies of Product Bulletins can be found on the Motoman iNet on the Marketing web page. The information within this document is the
STANDARD SYSTEMS GROUP proprietary property of Motoman Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written
APRIL 2007, PB-165-B authorization of Motoman Inc. Technical specifications are subject to change without notice.
 PRODUCT BULLETIN
Page 3 of 3 Screens:

MotoCal Calibration Window

MOTOCAL

Main MotoCal Project Window

Options:
Available Options for MotoCal
Part Number Description
140931-1 Enhanced Accuracy Programming Filter
141246-1 Universal Swivel Adaptor
144304-1 MotoCal Trigger Kit
140711-1 Robot Calibration Tool, SV3
140653-1 Robot Calibration Tool, UP6/20
140710-1 Robot Calibration Tool, UP50
140712-1 Robot Calibration Tool, SP100, UP130/165/200
140717-1 Robot Calibration Tool, SK300
141512-1 MotoCal Calibration Service
140107-1 Adapter, Swivel
140716-1 Line, Replacement Identical Encoder
152843-1 Mount, Encoder

©2007 MOTOMAN Copies of Product Bulletins can be found on the Motoman iNet on the Marketing web page. The information within this document is the
STANDARD SYSTEMS GROUP proprietary property of Motoman Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written
APRIL 2007, PB-165-B authorization of Motoman Inc. Technical specifications are subject to change without notice.