C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only
(C) Seiko Epson Corporation 3-10 Rev.1
3.2 Calibration
3.2.1 What is Calibration?
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the Manipulator cannot perform positioning properly
because a gap exists between the origin stored in each motor encoder and its corresponding origin stored in the Controller.
Therefore, it is necessary to match these origins after replacing the parts.
The process of aligning the two origins is called “Calibration”. Note that calibration is not the same as teaching*.
* “Teaching” means to teach the Controller coordinate points (including poses) anywhere in the operating area of the Manipulator.
⚫ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation
and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide.
⚫ Before operating the robot system, make sure that no one is inside the safeguarded area. The robot system can be
operated in the mode for teaching even when someone is inside the safeguarded area. The motion of the Manipulator
is always in restricted (low speeds and low power) status to secure the safety of an operator. However, operating the
robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety
problems in case that the Manipulator moves unexpectedly.
In EPSON RC+, a coordinate point including the arm pose is defined as “point” and its data is called “point data”.
There are two methods to move the Manipulator during calibration.
• Releasing the electromagnetic brake and moving the arms manually.
For details, refer to the C-B series Manual C8 Manipulator 3.1.6 How to Move Arms with the Electromagnetic Brake, C-B series
Manual C12 Manipulator 4.1.6 How to Move Arms with the Electromagnetic Brake.
• Moving the Manipulator using Jog & Teach.
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