Appendix I

WLKATA Mirobot Calibration Operation

Calibration Operation Procedure:
The Mirobot is calibrated before leaving the factory. In each time the manipulator finishes the HOMING action, the joint 1, joint 2, joint 3, joint 4 and joint 5 should be homed to the pre-designed homing position.
After the HOMING action, if one or more of the joints is/are not in the pre-designed homing position, one need to re-calibrate the manipulator. The Calibration procedure is explained as below:

Step 1: Turn on the power of the robotic arm. Open the "COMMAND" interface of Mirobot Studio software, enter "M50" and click "Send" to unlock each axis.

Step 2: Enter the "SETTING" interface, click "Calibration-Start".

Step 3: In JOINT MODE, control each axis to the corresponding position by adjusting the "J1~J6" on the right side of the interface.
Note: The 4th axis must be adjusted through negative steps (J4-). There has No special requirements for other axes. The 6th axis does not need Calibration.