Epson C Series - Page 431

C8 Maintenance 16. Calibration
C Series Maintenance Manual Rev.2 411
Also, pay attention to the following points at the encoder initialization.
CAUTION
■
The Joint #1 and Joint #4 have no mechanical stops and they
may be rotated
more than 360 degrees. If the encoder initialization is performed with
improper
posture, the Manipulator
moves outside the operation range. If the Manipulator
was moved
outside the operation range, the internal wiring may be damaged by
being
twisted or pinched and it may result in Manipulator malfunction.
When the home positions of
the Joints #1 and #4 are uncertain, check torsion of the internal
cables. The home positions are where the Manipulator has the internal
cables not twisted
at the basic orientation
described in C Series Manual C8 Manipulator 3.7 Checking the
Basic orientation
.
Torsi
on of the internal cables can be checked by removing the following covers.
Joint #1 : Base cover (Cable backward model)
: Connecter plate (Cable downward model)
Joint #4 : Arm #3 cover
(common between cable downward and cable backward models)
Connecter plate
(Cable downward model)
Arm #3 cover
(common between cable downward
and cable backward models)
Base cover
(Cable backward model)

NOTE