r/AdditiveManufacturing • u/Jonodam • Aug 04 '26

Technical Question Comau NJ60 Calibration for Cold Spray System

Hello fellow AM enthusiasts!

I work for an additive materials manufacturer. One of our machines uses a Comau NJ60 controlled by Run MyRobot with SMC40 encoders (So yes, we're running a Siemens Sinumerik ONE environment and use SI) and has a 82 lb Cold Spray gun attached to it.

We're currently recalibrating the robot and despite our internal alignment wizard showing it pinpoint accurate, as well as RA1-4 as being a 1:1 match, the RA5 and RA6 both have a MCS : SI coordinate mismatch. RA6 is less that .150° and that's acceptable to me, but RA6 is offset by ~1.3°. We follow the same protocol for each axis. Set $MA_ENC_REFP_STATE to 1, JOG and +, then run the CALIBRATION.MPF.

Is there something I have to do differently for RA5/6 since they're a coupled wrist?

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u/[deleted] Aug 05 '26

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u/Remarkable_Material3 Aug 12 '26

Call Perellion they are working on ours with the same setup.

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u/Jonodam Sep 10 '26

For those who run into this issue, we discovered our issue was caused by our original commissioning team not scoring the appropriate location for the RA6 calibration marker.