Calibration data on multimove setup

Robot Controller IRC5
1

Hi, I have 2 robots with multimove option. When I go online with controller and check configuration file, there are calibration data only for rob1. Where can I find calibration data for second robot?

Thanks

MOC:CFG_1.0::
# Serial Number: 1600-xxxx
# Created 2020-06-17 12:38:15 by Axis Calibration

# MOTOR_CALIB - ?
MOTOR_CALIB:
-name "rob1_1" -valid_com_offset -cal_offset 5.0554 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

-name "rob1_2" -valid_com_offset -cal_offset 3.5378 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

-name "rob1_3" -valid_com_offset -cal_offset 2.8657 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

-name "rob1_4" -valid_com_offset -cal_offset 2.3486 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

-name "rob1_5" -valid_com_offset -cal_offset 3.4281 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

-name "rob1_6" -valid_com_offset -cal_offset 5.8066 -valid_cal_offset  \
-factory_calibration_method 3 -latest_calibration_method 3

# ROBOT_SERIAL_NUMBER - ?
ROBOT_SERIAL_NUMBER:
-name "rob_1" -robot_serial_number_high_part "1600" \
-robot_serial_number_low_part xxxxx

# AXIS_CALIBRATION_JOINT - ?
AXIS_CALIBRATION_JOINT:
-name "rob1_1" -axcal_version 1 -p1 0 -p2 -5.02642 -p3 0 \
-p4 0 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.3 \
-p10 0.5 -p11 0.09 -p12 1.2 -p13 0.8 -p14 0.3 \
-p15 0.075 -p16 0.1 -p17 1 -p18 -1 -p19 -1

-name "rob1_2" -axcal_version 1 -p1 0 -p2 -5.05299 -p3 0 \
-p4 0 -p5 0 -p6 2 -p7 30 -p8 15 -p9 0.3 \
-p10 0.5 -p11 0.09 -p12 1.2 -p13 0.9 -p14 0.3 \
-p15 0.075 -p16 0.1 -p17 1.5 -p18 -1 -p19 -1

-name "rob1_3" -axcal_version 1 -p1 -3.8 -p2 -10.9335 -p3 0 \
-p4 13 -p5 0 -p6 2 -p7 30 -p8 15 -p9 0.12 \
-p10 0.5 -p11 0.09 -p12 0.9 -p13 0.4 -p14 0.06 \
-p15 0.075 -p16 0.1 -p17 1.5 -p18 -1 -p19 -1

-name "rob1_4" -axcal_version 1 -p1 18.5 -p2 30.5276 -p3 0 \
-p4 18.5 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.09 \
-p10 0.5 -p11 0.09 -p12 0.3 -p13 0.3 -p14 0.04 \
-p15 0.14 -p16 0.1 -p17 2 -p18 -1 -p19 -1

-name "rob1_5" -axcal_version 1 -p1 2 -p2 -9.00167 -p3 0 \
-p4 0 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.09 \
-p10 0.8 -p11 0.09 -p12 0.5 -p13 0.2 -p14 0.07 \
-p15 0.14 -p16 0.1 -p17 2.5 -p18 -1 -p19 -1

-name "rob1_6" -axcal_version 1 -p1 104 -p2 92.3398 -p3 0 \
-p4 100 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.16 \
-p10 0.6 -p11 0.09 -p12 0.4 -p13 0.2 -p14 0.1 \
-p15 0.14 -p16 0.1 -p17 5 -p18 -1 -p19 -1
2

The data for all the robots is in the one moc.cfg file.
Each robot has its own line in each topic.

3

Thanks Graeme, but this is all I can see in moc.cfg file:

MOC:CFG_1.0::

Serial Number: 1600-xxxx

Created 2020-06-17 12:38:15 by Axis Calibration

MOTOR_CALIB - ?

MOTOR_CALIB:
-name “rob1_1” -valid_com_offset -cal_offset 5.0554 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

-name “rob1_2” -valid_com_offset -cal_offset 3.5378 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

-name “rob1_3” -valid_com_offset -cal_offset 2.8657 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

-name “rob1_4” -valid_com_offset -cal_offset 2.3486 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

-name “rob1_5” -valid_com_offset -cal_offset 3.4281 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

-name “rob1_6” -valid_com_offset -cal_offset 5.8066 -valid_cal_offset
-factory_calibration_method 3 -latest_calibration_method 3

ROBOT_SERIAL_NUMBER - ?

ROBOT_SERIAL_NUMBER:
-name “rob_1” -robot_serial_number_high_part “1600”
-robot_serial_number_low_part xxxx

AXIS_CALIBRATION_JOINT - ?

AXIS_CALIBRATION_JOINT:
-name “rob1_1” -axcal_version 1 -p1 0 -p2 -5.02642 -p3 0
-p4 0 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.3
-p10 0.5 -p11 0.09 -p12 1.2 -p13 0.8 -p14 0.3
-p15 0.075 -p16 0.1 -p17 1 -p18 -1 -p19 -1

-name “rob1_2” -axcal_version 1 -p1 0 -p2 -5.05299 -p3 0
-p4 0 -p5 0 -p6 2 -p7 30 -p8 15 -p9 0.3
-p10 0.5 -p11 0.09 -p12 1.2 -p13 0.9 -p14 0.3
-p15 0.075 -p16 0.1 -p17 1.5 -p18 -1 -p19 -1

-name “rob1_3” -axcal_version 1 -p1 -3.8 -p2 -10.9335 -p3 0
-p4 13 -p5 0 -p6 2 -p7 30 -p8 15 -p9 0.12
-p10 0.5 -p11 0.09 -p12 0.9 -p13 0.4 -p14 0.06
-p15 0.075 -p16 0.1 -p17 1.5 -p18 -1 -p19 -1

-name “rob1_4” -axcal_version 1 -p1 18.5 -p2 30.5276 -p3 0
-p4 18.5 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.09
-p10 0.5 -p11 0.09 -p12 0.3 -p13 0.3 -p14 0.04
-p15 0.14 -p16 0.1 -p17 2 -p18 -1 -p19 -1

-name “rob1_5” -axcal_version 1 -p1 2 -p2 -9.00167 -p3 0
-p4 0 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.09
-p10 0.8 -p11 0.09 -p12 0.5 -p13 0.2 -p14 0.07
-p15 0.14 -p16 0.1 -p17 2.5 -p18 -1 -p19 -1

-name “rob1_6” -axcal_version 1 -p1 104 -p2 92.3398 -p3 0
-p4 100 -p5 0 -p6 2 -p7 30 -p8 10 -p9 0.16
-p10 0.6 -p11 0.09 -p12 0.4 -p13 0.2 -p14 0.1
-p15 0.14 -p16 0.1 -p17 5 -p18 -1 -p19 -1

4

Was the system delivered from the factory as a MultiMove system or has it been retrofitted as one after the fact?

5

Straight from factory as MultiMove. I’m not sure if I’m using right terminology with MultiMove. Basically two robots controlled by one IRC5. Same setup as in Warkworth, we did together two years ago.

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6

Try to reset the system - under restart->advanced…
Note if you have done any changes to the system these will be lost = take a backup first.

7

Problem was on my side. I tried to access file in folder HOME, but it stores only config of first robot.

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moc.cfg file can be accessed through tab Controller/save parameters/motion, or