How to Calibrate uFactory Lite 6? Joint 5 and 6 Not in Original Position

1

Hi everyone,

I am having an issue with my uFactory Lite 6 robot. It seems that Joint 5 and Joint 6 are not in their original positions, which is causing problems when I try to move the robot to its zero position.

  • When I command the robot to go to position (0,0,0,0,0,0), Joint 5 does not align the arm parallel to the working plane, causing a collision.
  • Joint 6 gives an error:

C23 “Joints Angle Exceed Limit Joint Id[6], joint angle [-370.195]”

I suspect that the robot has lost its calibration, and I need to reset its zero position. I have been looking for a way to calibrate the joints properly but haven’t found clear documentation on this process.

Does anyone know how to recalibrate the zero position of the uFactory Lite 6?
Is there a way to do it using UFactory Studio, ROS, or the Python SDK?

Any guidance would be greatly appreciated! Thanks in advance.

2

image
image2205×1875 163 KB

It’s easy.

  1. Unlock the joint by Studio on Settings-General-Debugging Tools-Joint page, choose the Joint you need to unlock, let’s take Joint 6.
  2. Rotate Joint 6 by your hand and adjust it to Zero, using "D13 I* " to reset ZERO of the joint, * means the joint ID, for joint 6 the command is “D13 I6”
  3. Press the E-stop, wait for 5 seconds and release it, then enable the robot and you will find Joint 6 zero reset.