Robot DT- Calibration Nipple motor

Now the Nipple servo-motors must be calibrated with 100Ncm in the following order:
• Lock the right side drive shaft by using vice-grippers (1), or inserting a tool in the nipple key slot.

1 Activate the servo-motor in the “Screw”(only in this direction is torque feedback enabled!) mode. (Cursor in front of line 1 and )

2 ->Dial in a torque value of 100Ncm in front of line 5. (Cursor in front of line 5 ,, <+◄>) You will see a different torque value on the right e.g: +/- 55Ncm. Press to reset to 100Ncm. → Attention! The locked servo- motors have to be activated as short as possible to prevent overheating.

3 Deactivate the servo motor on line 1 with -> The * disappears

4 On line 5 lower the value to 0Ncm by -> pressing <->

5 Repeat the procedure for the left side motor.