# Calibration data on multimove setup

**URL:** <https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631>\
**Category:** IRC5\
**Created:** [July 30, 2020, 9:46am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631 "2020-07-30T09:46:23Z")\
**Posts on this page:** 7\
**Page:** 1

<div class="post-metadata">

**Author:** ![PetrB](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/petrb/32/248_2.png) [@PetrB](https://tech-community.robotics.abb.com/u/PetrB)\
**Post date:** [July 30, 2020, 9:46am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/1 "2020-07-30T09:46:23Z")

</div>

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

```auto
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

```

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<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [July 30, 2020, 10:00am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/2 "2020-07-30T10:00:17Z")

</div>

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

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<div class="post-metadata">

**Author:** ![PetrB](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/petrb/32/248_2.png) [@PetrB](https://tech-community.robotics.abb.com/u/PetrB)\
**Post date:** [July 30, 2020, 10:10am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/3 "2020-07-30T10:10:55Z")

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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

---

<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [July 30, 2020, 7:47pm UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/4 "2020-07-30T19:47:48Z")

</div>

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

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<div class="post-metadata">

**Author:** ![PetrB](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/petrb/32/248_2.png) [@PetrB](https://tech-community.robotics.abb.com/u/PetrB)\
**Post date:** [July 31, 2020, 4:30am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/5 "2020-07-31T04:30:50Z")

</div>

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.

 ![|512x376.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/3defa3ccb295879920b0c137d2575735f54fac3d.jpeg)

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<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [August 2, 2020, 8:33pm UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/6 "2020-08-02T20:33:00Z")

</div>

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.

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<div class="post-metadata">

**Author:** ![PetrB](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/petrb/32/248_2.png) [@PetrB](https://tech-community.robotics.abb.com/u/PetrB)\
**Post date:** [August 5, 2020, 8:32am UTC](https://tech-community.robotics.abb.com/t/calibration-data-on-multimove-setup/9631/7 "2020-08-05T08:32:12Z")

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

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/a/a917964ebdb5fc2e20dd0fcb5647f09ca300f4df.png)

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