## Dual Arms with Wrists Calibration Example

See Procedure.html in d:\docprojects\rawdocs\dual_arm_procedure\ file for source. Open it in Word to see my comments. Use story# 109168 for this. Some audio explanations from Mimmo are recorded on my C:\Users\Jared\Documents\Freecorder 4,

Ignore this. It's a note I made to myself when working on this project.

The following steps are used in this procedure:

Ignore these. They evaluate into a mini table of contents within the topic in the actual help.

### Overview

Important: This advanced topic assumes you have a solid working understanding of PC-DMIS, including such concepts as probe angles, calibrations, the autocalibrate command, move point commands, multiple arm mode, and so on.

This topic provides a typical calibration example to show the steps needed to calibrate a dual-arm horizontal machine with different extensions on the wrist and with a probe changer. After a full calibration, additional steps explain how to create two part programs that will automate the calibration steps so you can more quickly perform the calibration when needed. Some steps are described generally and assume that as an advanced user, you are already familiar with the underlying principles needed.

This example uses CW43L_Multiwire wrists with short, medium, and long probe extensions containing TP2/TP6 probes. Your actual procedure will differ.

Before you begin, make sure the following has taken place:

- The machine has been properly compensated. This compensation data must reside in the Leitz controller for both the arms.

- Y ou understand the importance of temperature compensation. See "Notes on Temperature Compensation".

  Link this up when individual topics are created.

- Both arms have been properly assembled and aligned.

- A technician should have corrected any possible skew that may have occurred during the assembly and mechanical levelling of the wrists. Data from this correction should have been stored in the controller in the COSDAT.

- You should understand the wrist orientations on each arm. Each wrist when positioned at specific angles determines the orientation of that wrist's head compared with the machine's axes. The following example demonstrates some angles used on a PRIMA machine:

Example showing some angular positions and the orientation values for each arm

### Step 1: Define Connection Info and Configure Angles

Since the two arms use different orientations you need to properly configure the setup parameters to reflect this.

Setup the Primary Computer

On your primary computer, modify the Multiple Arm Setup dialog box with these options:

1. To access this dialog box, select Edit | Preferences | Multiple Arm Setup.

2. Mark the This computer (primary) drives all arms option button.

3. Choose 2 from the Connection settings for arm list.

4. Choose Remote connection. Set the connection values to the secondary machine: TCP/IP Port, Data Port, and Delay for TCPIP connection in milliseconds.

5. Click OK to close the Multiple Arm Setup dialog box.

Also, modify the Probe Head Wrist Angle Configuration dialog box with these options:

1. To access this dialog box, select Edit | Preferences | Setup then the Part/Machine tab, and finally the Probe Head Orientation button.

2. In the CMM1 area, set the wrist's A0B0 position to point in YPLUS direction, and set the A90B180 position to point in ZPLUS.

3. In the CMM2 area, set the wrist's A0B0 position to point in the YMINUS direction, and set the A90B180 position to point in ZMINUS.

4. Click OK to close the Probe Head Wrist Angle Configuration dialog box.

5. Click OK to close the Setup Options dialog box.

Dialog boxes showing the settings used

Setup the Secondary Computer

On the secondary computer, modify the Multiple Arm Setup dialog box, and click the This computer relays commands from the primary computer option.

Modify the Axis tab of the Machine Options dialog box with these options:

- Set the X list to -X

- Set the Y list to -Y

- Set the Z list to Z

Dialog boxes showing the settings used

The angles are now setup as shown here:

Angles with DEA Wrists

If you're using a machine with DEA wrists, use the PC-DMIS Settings Editor to modify these registry entries on both computers to the following values:

- DEAWrist = 1

- RotateWristFromController = TRUE

- FlipBAxis = TRUE

- AaxisMax = 181

- AaxisMin = -181

Note: The AaxisMax and AaxisMin entries define the allowed amount of angular rotation for the wrists. For very long extensions, you should not exceed +/- 124 degrees.

On the primary LEITZ computer (arm 1), set these entries:

- AxisX = 0

- AxisY = 2

- AxisZ = 4

On the secondary LEITZ computer (arm 2), set these entries:

- AxisX = 1

- AxisY = 3

- AxisZ = 4

Note on Different Configurations

If you need to configure your machine differently from a conventional DEA machine; for example, if you want to use the wrist convention used in the PHS Renishaw, you would need to set the following parameters. They are then stored in the registry:

1. In the Machine Options dialog box for arm 1 (computer 1), set the B offset value to -180.

2. In the Probe Head Wrist Angle Configuration dialog box, specify the proper axes associated with the wrist rotations.

The figure below shows the values you should change along with some sample wrist rotations at the noted angles:

### Step 2: Backup Files and Delete Files

Before continuing with the calibration, be sure to back up the following items on both computers:

- The registry settings

- The *.PRB, and the *.Results files

- These data files: abcalib.dat, abcalib_CMM2.dat, abcomp.dat, abcomps_CMM2.dat, aboutput.dat, aboutput_CMM2.dat, wristm.dat, wrists_CMM2.dat, armarm.dat, tool.dat, toolc.dat

The PC-DMIS Settings Editor has the ability to backup registry entries as well as user data files. See the "Working with Backup Files and User Data" topic in the PC-DMIS Settings Editor documentation for information on backing up important files.

Some files you may have to backup manually, see the "Understanding File Locations" topic for information on where the above file types are stored in case you need to do this.

Now that you have backed up the above files, you should delete the original ones (keep the backed up ones as needed). This ensure that you're starting with a fresh setup and that previous calibration data won't affect the current calibration.

### Step 3: Create a Basic Arm to Arm Relationship

In this step you'll create a part program, define your probes, define your calibration spheres, and then perform a simple initial calibration to establish a basic relationship between the two arms. This calibration will consist of machines containing wrists with probe extensions at a length of 332 mm. This will result in a calibration of medium accuracy. The probe changer will not be used at this point.

Three calibration spheres mounted on a cross-like fixture with 15 mm calibration spheres will be used for this calibration, like this:

Create a New Part Program.

Create a new part program and then load or create the two probes files, PROBE1 and PROBE2, into your part program.

PROBE 1 should have this: | PROBE 2 should have this:

They should look like this:

Load in a third probe file, name it PROBALL, and give it a 15 mm fixed rigid ball, like this:

Your part program should look like this:

Important: If your physical structure of the probe and arm are not displayed in the Probe Utilities dialog box, be sure to edit the USRPROBE.DAT so that the dialog displays the necessary hardware. See "Understanding the .DAT Files" topic in the "Setting Your Preferences" chaptersection:
Example usrprobe.dat file edited to contain a flange between the arm and wrist

Define the Calibration Spheres

1. Access the Add Tool dialog box.

- Choose Insert | Hardware Definition | Probe

- Click the Measure button.

- Click the Add Tool button.

2. In Tool ID, type SPHERE3.

3. In Tool type, choose SPHERE.

4. Inside Shank vector IJK boxes, type 0,0,1.

5. In the Diameter/Length box, type 15.875.

6. Click OK to close the Add Tool dialog box.

7. Repeat steps 2 through 6 to define the SPHERE1 calibration sphere. Use 0,-1,0 for the vector.

8. Repeat steps 2 through 6 to define the SPHERE2 calibration sphere. Use 0,1,0 for the vector.

9. The information is stored and written to your Tools.dat file.

10. Click Cancel to close the Measure Probe dialog box.

11. Click Cancel to close the Probe Utilities dialog box.

Do a Preliminary Calibration

You need to perform a preliminary calibration on SPHERE3 in order to temporarily map the two arms. You can do this calibration without needing to calibrate the actual probe tips for PROBE1 and PROBE2.

1. Access the Multiple Arm Calibration dialog box by selecting Operation | Calibrate/Edit | Multiple Arm Mode.

2. Set the First arm list to CMM1.

3. Set the Second arm list to CMM2.

4. Choose the Both arms measure tool option.

5. Type a value of 1 in the Number of spheres to measure box.

6. Choose the Manual calibration option.

7. Choose the Origin only option.

8. Set First arm probe to PROBE1.

9. Set First arm tip to T1A0B0.

10. Set Second arm probe to PROBE2

11. Set Second arm tip to T1A0B0.

12. Choose SPHERE3 from the List of available tools.

13. Click Calibrate. Follow any on-screen prompts.

When the calibration finishes, your Probe Readouts window for arm 1 and arm 2 should contain nearly identical X and Z values.

Before Calibration | After Calibration

Following a Preliminary Calibration on SPHERE3

You've successfully calibrated SPHERE3 in order to temporarily map arms 1 and 2. The calibration information is stored within an ArmArm.dat file.

### Step 4: Initiate a More Accurate Calibration

(This is #10 in the PROCEDURE.HTML doc file)

In this step you will perform a more accurate calibration to define the alignment of the axes between arm 1 and arm 2.

1. Swap out the TP2 tip on the arm 1 extension with a 15 mm tip.

2. In the Multiple Arm Calibration dialog box make sure the following are set:

- For First arm probe, select the PROBALL probe.

- For Second arm probe, select the PROBE2 probe.

- For Number of spheres to measure, define how many spheres PC-DMIS will measure with each arm. For this example we'll use a value of 6. But for your machine, you may want to choose a different number based on the dimensions of your machine. A value of 9 is good. 12 is the maximum. The higher the number, the greater the accuracy, but you'll also experience an increase in calibration time with more spheres during the DCC calibration.

3. Calculate the orientation plane so that the sphere of arm 1 will move on a plane lying on the Y center line of the machine. This will allow arm 2 to later reach the ball in all positions. To do this:

- Manually move arm 1 to the six sphere positions specified in the Multiple Arm Calibration dialog box.

- From the Multiple Arm Calibration dialog box, click Edit Positions and correct each sphere position as needed to improve the distribution. This may be needed since the positions are not perfectly aligned nor evenly distributed on the vertical plane.

- You may find it helpful to read the position of the active arm to fill in the X, Y, Z coordinates. The Read Position button automatically uses the current X, Y, Z position of the arm.

4. Choose the Orientation and Origin option.

5. Choose the DCC calibration option.

6. Click Calibrate. The armarm.dat file is regenerated with a more accurate mapping from this calibration.

Dialog boxes showing the settings used

The next three steps will perform DCC calibrations.

### Step 5: Perform DCC Calibration of SPHERE3 using Arm 1

(This is #11 in the PROCEDURE.HTML doc file)

Continue the calibration in DCC mode for arm 1 measuring SPHERE3. This is the center sphere on the calibration fixture.

1. Swap out the 15 mm tip on the Arm 1 extension with the TP2 tip.

2. In the Measure Probe dialog box for the PROBEALL probe, choose DCC.

3. In the List of available tools, choose SPHERE3.

4. Click Measure.

5. When PC-DMIS asks if the qualification tool has moved or the machine zero point has changed, click Yes.

Dialog boxes showing the settings used

### Step 6: Perform DCC Calibration of SPHERE1 using Arm 1

(This is #11 in the PROCEDURE.HTML doc file)

1. In the Measure Probe dialog box, in the List of available tools, choose SPHERE1.

2. Ensure that the IJK orientation of this calibration sphere is correctly set to 0, -1, 0.

3. Click Measure.

4. When PC-DMIS asks if the qualification tool has moved or the machine zero point has changed, click Yes.

### Step 7: Perform DCC Calibration of SPHERE2 using Arm 2

(This is #11 in the PROCEDURE.HTML doc file)

1. Access the Measure Probe dialog box for PROBE2, the probe on Arm 2.

2. In the Measure Probe dialog box, choose DCC.

3. In the List of available tools, choose SPHERE2.

4. Ensure that the IJK orientation of this calibration sphere is correctly set to 0, 1, 0.

5. Click Measure.

6. When PC-DMIS asks if the qualification tool has moved or the machine zero point has changed, click Yes.

### Step 8: Map the Wrists of Arm 1 using SPHERE1

(This is #12 in the PROCEDURE.HTML doc file)

At this point, you have a probes for both arms defined. You've also defined the orientation between the arms. Now, you need to map available wrist angles you'll be using.

1. Check to see the ability to use wrist maps is already enabled. You can do this by accessing the Probe Utilities dialog box for a probe that has a wrist. If you see the Use wrist map if available check box, this functionality is enabled. If you don't see it, check to ensure that the DeaWrist registry entry is 1.

2. Access the Measure Probe dialog box for PROBE1 and set these options and values:

- In the Type of operation area, choose Calibrate the unit.

- In Calibration mode, choose User defined.

- The boxes in the Wrist calibration area should now be editable.

- Choose DCC + DCC. This is needed for long extensions.

- For the A angle values, the probe's pitch, define the following: For Start A, type -90; for End A, type 90; and for Increment, type 30.

- In the B angle values, the probe's roll, define the following: For Start B, type -180; for End B, type 180; and for Increment, type 45.

- Choose Create new map.

Note: If you want greater precision in your calibration, decrease the increment value at the cost of increase in team. For shorter extensions, the value of 30 and 45 is a medium value.

3. For List of available tools, choose SPHERE1.

4. Click Measure.

5. When PC-DMIS asks if the qualification tool has been moved or the machine zero point changed, click No.

Arm 1 starts to measure all the positions defined in the dialog box. Generally, this lasts approximately an hour, but it depends on the speed of the machine and the size of your probe's extension. A shorter extension is faster.

Dialog boxes showing the settings used

### Step 9: Map the Wrists of arm 2 Using SPHERE2

(This is #12 in the PROCEDURE.HTML doc file)

Repeat the previous using instead arm 2 with SPHERE 2. After both arms have calibrated the wrist angles, the following files are created or modified with the latest calibration data:

- *. PRB

- *. Results

- abcalib.dat and abcalib_CMM2.dat

- abcomps.dat and abcomps_CMM2.dat

- aboutput.dat and aboutput_CMM2.dat

- wrists.dat and wrists_CMM2.dat

- toolc.dat and toolc_CMM2.dat

- armarm.dat

- tool.dat

### Step 10: Map the Origin Between Arms

(This is #13 in the PROCEDURE.HTML doc file)

In the previous steps you created a basic relationship between arm 1 and arm 2. They were mainly used to establish the orientation. The origin between arms was not established because the mapping didn't exist then. Now that the wrist mapping is done for both arms, you can now map the origin. This will generate two maps, one for each arm.

1. From the Multiple Arm Calibration dialog box, set the following:

- Choose Both arms measure tool.

- Set Number of spheres to measure to 1.

- Choose Origin only.

- In First arm probe, choose PROBE1 and set the First arm tip to T1A0B0.

- In Second arm probe, choose PROBE2 and set the Second arm tip to T1A0B0.

- In List of available tools, choose SPHERE3.

Multiple Arm Calibration dialog box showing the settings used

2. Click Calibrate.

3. When PC-DMIS asks if the qualification tool has been moved or the machine zero point changed, click No. Since the calibration spheres are almost always located in the same position of the machine (it's screwed in place), you can choose No. PC-DMIS doesn't care if the spheres are off by some tenth of a millimeter.

### Step 11: Do a Test Measurement

(This is #15 in the PROCEDURE.HTML doc file)

At this point it's important to do a test measurement to ensure that everything is setup correctly and to see if the accuracy is good.

1. Use a test part, something like a 700 mm sized test block.

2. Tilt the part in 3D space.

3. Measure the part using an alignment.

4. Reposition it in different locations inside the machine volume.

5. Measure with a single arm.

6. Measure with both arms.

7. Compare the results against measurements done on separate, single-arm machines.

### Step 12: Map the Other Extensions

(This is #16 in the PROCEDURE.HTML doc file)

Some machines come with three extensions: short, medium, and long. For your first calibration, it's best to use a short extension. If you have other extensions to use on each arm, you would need to perform a mapping for each additional extension. Since you've already created a mapping using the shortest extensions, you need to now do mappings of the other two extensions (long and medium extensions for both arms). See "Notes on Multiple Maps".

Remember to link this once topics are split up.

This step is needed before we can calibrate and use probe changers that will hold the different extensions.

Your probes should be named or renamed using a format that corresponds to the different extension lengths and the different arms.
For example, this procedure uses the following:
ARM1_1 is the short extension on arm 1
ARM1_2 is the medium extension on arm 1
ARM1_3 is the long extension on arm 1
ARM2_1 is the probe with the short extension on arm 2
ARM2_2 is the medium extension on arm 2
ARM2_3 is the long extension on arm 2

Map the Long Extensions

Two new maps are needed for the long extension. To do this, create a new map by repeating steps 8 through 10 above, but this time use the probes with the long probe extensions.

Map the Medium Extensions

For the medium extensions, you can update the extensions to an existing map.

1. Access the Probe Utilities dialog box for the probes with the medium extensions, and using the Add New Angle dialog box add at least 9 angular positions. This defines the calculation of the new offset, due to variation in the extension. These are some good recommend angles to use:
   [0,0] [90,90] [90,-90] [-90,-90] [-90,90] [45,45] [45,-45] [-45,-45] [-45,45]

Example Add New Angle dialog box showing the suggested angles

2. Access the Measure Probe dialog box.

3. Choose Calibrate tips. Since you're updating an existing map, not creating a new one, you'll see that Calibrate the unit and Create new map are both grayed out.

4. Click Calibrate.

### Step 13: Calibrate the Probe Changers

(This is #16 in the PROCEDURE.HTML doc file)

Note: Before calibrating the probe changer, make sure that all tips have been calibrated and the relationships between the arms is also established.

Since you'll have multiple extensions (three for each arm is the minium), you'll need to do a probe changer calibration to support the loading and unloading of probe extensions with the probe changer. It is assumed that you already know how to do the probe changer calibration.

Follow your existing procedure to calibrate the probe changers. If you want to see how some probe changers are calibrated, see the "Defining Probe Changers" topic here.

If you're planning to use a laser probe on your probe changer, you can devote a slot on the probe changer rack to that particular component. To do this, use the CW43LThirdAxisTCSlot registry entry in the PC-DMIS Settings Editor.

### Step 14: Setup Program Files for Automatic Use

(This is #17 in the PROCEDURE.HTML doc file)

With the above steps completed, the dual arm setup is now ready to use. The tips are calibrated and related for both arms as well as with the probe changers.

However, there will be times when you'll need to adjust the calibration or correct the offset (for example if you need to replace a damaged tip or if you want to substitute a different tip). Repeating the above manual steps would be very time consuming. For this reason, it makes sense to use an automated approach. All you'd have to do is run a program and PC-DMIS would automatically perform the procedures you did previously.

Before doing this, you should be very familiar with PC-DMIS operations.

Create two empty programs:

1. AUTO_MAPS.PRG - This program will be used to create a complete automatic mapping with all probes. It'll measure many angles around the calibration sphere to create all the needed mappings. If you need to run this program, it'll still take a long time to run (approximately one hour per arm), but at least the process will be automated.

2. AUTO_UPDATE.PRG - This program will be used to update probes when, for example, a tip crashes and you need to update the calibration of a single tip. In this case you just need to have one update program that uses AUTOCALIBRATE commands. This program is much shorter to run as it involves only measuring a few orientations on the calibration sphere and is used to adjust the mapping for a new tip.

For now, just create the programs. You'll add content to them in later steps.

### Step 15: Add Commands to AUTO_MAPS.PRG

(This is #17 in the PROCEDURE.HTML doc file)

You do not need to create an arm to arm map for every extension. While a single map is insufficient for good accuracy, you can obtain good accuracy with two maps. It's better to do one mapping of the short extension followed by one with the long extension. This step will help you build the AUTO_MAPS.PRG program for the recommended two maps.

Define Parameter Sets for Probe Extensions in AUTO_MAPS.PRG

1. Access AUTO_MAPS.PRG and place the Edit window in Command mode.

2. Start with the ARM1_1 probe. Access the Measure Probe dialog box for that probe.

3. Define all the parameters you need in this dialog box to create a new arm to arm mapping of that probe.

4. Choose Replace closest map in the Wrist Calibration area.

5. In the Parameter Sets area, give the set a name by typing in the Name box the name of the probe with a "_MAP" suffix appended (for example, "ARM1_1_MAP").

Example of Parameter Set creation

6. Click Save. A parameter set is created for ARM1_1 probe. Click OK to close the message box.

7. Repeat the 2-6 for each probe, creating a parameter set for each.

8. When finished, you should have these six parameter sets:

ARM1_1_MAP - For the probe named ARM1_1 (the short extension on arm 1)

ARM1_2_MAP - For the probe named ARM1_2 (the medium extension on arm 1)

ARM1_3_MAP - For the probe named ARM1_3 (the long extension on arm 1)

ARM2_1_MAP - For the probe named ARM2_1 (the short extension on arm 2)

ARM2_2_MAP - For the probe named ARM2_2 (the medium extension on arm 2)

ARM2_3_MAP - For the probe named ARM2_3 (the long extension on arm 2)

Note: You only need to create parameter sets for the number of extensions you have on each arm. For example, if only had two extensions on each arm, you would end up with a total of four parameter sets.

This means, you can now use an AUTOCALIBRATE command to calls one of these parameter sets. When the AUTOCALIBRATE statement executes, PC-DMIS will generate a new arm to arm mapping with all settings stored in the called parameter set.

Add Preliminary Commands into AUTO_MAPS.PRG

1. Access AUTO_MAPS.PRG.

2. Add in a TEMPCOMP command (temperature compensation) for arm 1. If you're calibrating inside of a climate-controlled environment, the temperature compensation commands aren't needed. See "Compensating for Temperature" and "Using Temperature Compensation with Multiple Arm Calibration".

3. Add a MOVE/SYNC command.

4. Add in a TEMPCOMP command for arm 2.

5. Type a MOVE/SYNC command after the TEMPCOMP command blocks.

6. Type a LOADPROBE/ARM1_1 command to load the probe with the short extension on arm 1. Assign the command to arm 1.

7. Type a LOADPROBE/ARM2_1 command to load the probe with the short extension on arm 2. Assign the command to arm 2.

8. Type a LOADPROBE/ARM1_3 command to load the probe with the long extension on arm 1. Assign the command to arm 1.

9. Type a LOADPROBE/ARM2_3 command to load the probe with the long extension on arm 2. Assign the command to arm 2.

Insert AUTOCABLIRATE Commands for Short and Long Probe Maps in AUTO_MAPS.PRG

(This is #18 in the PROCEDURE.HTML doc file)

1. Access AUTO_MAPS.PRG.

2. Place the cursor after the LOADPROBE commands for the short probes.

3. Insert an AUTOCALIBRATE command (choose Insert | Calibrate | AutoCalibrate Probe).

4. Press F9 on the command. The Calibrate Probe dialog box appears.

5. In the Parameter set list, choose the parameter set for the short probe on arm 1. This is ARM1_1_MAP.

6. Click OK. The command updates to use the selected parameter set.

7. Assign the command to arm 1.

8. Repeat 3-6 for the short probe on arm 2. This is ARM2_1_MAP. Assign the command to arm 2.

9. Place the cursor after the LOADPROBE commands for the long probes.

10. Repeat 3-6 for the long probe on arm 1. This is ARM1_3_MAP. Assign the command to arm 1.

11. Repeat 3-6 for the long probe on arm 2. This is ARM2_3_MAP. Assign the command to arm 2.

12. Type a MOVE/SYNC command at the end of the program.

Insert Moves Between Short and Long Probe Maps in AUTO_MAPS.PRG

(This is #18 in the PROCEDURE.HTML doc file)

1. After the AUTOCALIBRATE commands for the short probes and before the LOADPROBE command for the long probes, type a MOVE/SYNC command.

2. After the MOVE/SYNC command, ensure that the tips' angles are adjusted appropriately for drop off at their respective probe changers. You can do this by inserting moves appropriate to your machine's dimensions and arm and probe changer setup.

This completes the information needed for the AUTO_MAPS.PRG.

Your program should now be organized like this:

Sample AUTO_MAPS.PRG Program

### Step 16: Add Commands to AUTO_UPDATE.PRG

(This is #19 in the PROCEDURE.HTML doc file)

Using Step 15 as a guide, do the following:

1. Add in the preliminary commands (TEMPCOMP, MOVE/SYNC, and LOADPROBE commands).

2. In this case, you'll need a LOADPROBE commands for all probe probes (short, medium, and long extensions).

3. Press F9 and ensure Use wrist map if available is marked for each. Click Add Angles.

4. Use the Add New Angles box for each probe, and add in at least 9 angles in for the desired probe. These angles are recommended as they results in a sufficiently precise distribution: [0,0] [90,90] [90,-90] [-90,0] [-90,0] [45,45] [45,-45] [-45,-45] [-45,45]

Example Add New Angle dialog box showing the suggested angles

Note: If you wanted increased precision, you could increase the angles to 17, although doing so would lengthen the execution time of the update.
The recommended 17 angles for this wrist are:
([0,0] [90,0] [90,-45] [90,-90] [90,-135] [90,45] [90,90] [90,135] [-90,0] [45,-20] [45,-65] [45,-110] [45,-155] [45,25] [45,70] [45,115] [45,160])

5. Access the Measure Probe dialog box and define parameter sets for each probe. Ensure that DCC + DCC and Calibrate tips are selected.

6. Name each parameter set by basing it off the probe name and adding on an "_UPDATE" suffix. For example, ARM1_1 would have a parameter set named ARM1_1_UPDATE.

Example of Parameter Set creation

7. After each set of LOADPROBE commands, insert two AUTOCALIBRATE commands that correspond to the parameter sets for those loaded probes.

8. Insert a MOVE/SYNC command after each AUTOCALIBRATE pair.

9. Between each AUTOCALIRBRATE pair, after the MOVE/SYNC command insert some safety move commands to prevent against possible crashes when the arms move to swap probes in and out of the probe changer. (This is #20 in the PROCEDURE.HTML doc file)

At this point your program should be organized like this:

Sample AUTO_UPDATE.PRG Program

(This is #21 in the PROCEDURE.HTML doc file)

Continue by adding these commands:

1. Go to the end of the program, add in a LOADPROBE command for ARM1_1 and for ARM2_1.

2. Insert an AUTOCALIBRATE/MULTIPLEARM command and press F9. The AutoCalibrate Multiple Arms dialog box appears.

3. For First arm, choose CMM1. For Second arm, choose CMM2.

4. Choose Both arms measure tool.

5. Choose DCC calibration.

6. Choose SPHERE3 from the Available Tools list.

This last piece causes the short extension on both arms to go and measure SHPERE3 in order to adjust the relationship one last time between arm 1 and arm 2. Generally, you only need to use this final command after perhaps a month machine usage (or after many measurements) to occasionally adjust the offset and improve accuracy.

Example AutoCalibrate Multiple Arms dialog

Before running this final portion of the program, be sure to place calibration spheres (SPHERE1, SPHERE2, and SPHERE3) back on the table.

### Notes on Temperature Compensation

Be sure to take into account how temperature will affect your calibration, and compensate as needed. Note that the coefficient of expansion of the part (or in this case the Tool Sphere) is zero. See "Compensating for Temperature" in the "Setting Your Preferences" chaptersection for more information.

### Notes on Multiple Maps

PC-DMIS supports multiple maps. You can potentially even have a separate map for each probe. But having so many maps is very impractical, given the work and attention needed for a single mapping procedure. So, when possible, try to group similar probe lengths together so that they use a single map. However, you should create a new map if the range between probe extensions is very large.

### Notes on using AUTO_MAPS.PRG

(This is SOME CONSIDERATIONS in the PROCEDURE.HTML doc file)

You would run this program to recreate the arm to arm mapping in these instances:

- Whenever your normal maintenance schedule requires that your mappings should be updated.

- Whenever you need to use an entirely new probe. In that case, you would need to add in the LOADPROBE statements for the new probe.

- Whenever you wrist is remounted (for example, after a technician adjusts its electronic compensation).

- Whenever data is lost or corrupted or you're not sure if the mapping is correctly generated.

- Whenever a room situation changes that alters the thermal compensation (for example, if moving the machine out of a climate controlled room).

- Whenever the physical structure of the machine changes.

Before running this program, you should delete old maps. Use the View/Delete maps button located in the Wrist calibration area of the Measure Probe dialog box to do this.

If you're using long extensions and you aren't running at maximum speeds, expect a minimum of 3-4 hours to run the entire program. This time is just an estimate, as it depends on your individual machine dimensions, the length of the extensions, and speed percentage used.

### Notes on using AUTO_UPDATE.PRG

(This is SOME CONSIDERATIONS in the PROCEDURE.HTML doc file)

You would run this program to update the mapping for a specific tip in these instances:

- Whenever you want to adjust the accuracy of the machine.

- Whenever you want to adjust a tip or need to add a new tip.

This program is used more frequently than AUTO_MAPS.PRG.

A typical AUTOCALIBRATE command with update parameters and 1 extension can be done using the Execute Block command.

Running the entire part program for all probe extensions and using the recommended nine angles takes about 30 minutes.

### Notes on Vertical Machines

Long extensions are often useful on vertical machines and wrists. If you use a very long extension you'll need to create a map for that extension. These machine types are highly accurate and it takes several hours to finish a mapping on this type of machine.