I have built the robot and ran thru calibration and created a pick and place program. Issue is after 100 or so cycles the robot seems to be off in the J1 joint and in the Z (height). I did not do a fine calibration. Should I have? Everything is locked down so the arm is not moving over time especially in the Z(height). What did I miss?
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I would definitely set a fine calibration position so you have a good reference point. The limit switches are not as accurate as a fine calibration point. You will also get some break in on the gear boxes as well as belt and chain stretch. I would check your tension on those.