C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only
(C) Seiko Epson Corporation 3-15 Rev.1
3. Encoder Initialization
Turn ON the Controller while all joints are in the motion range.
The error message “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be restarted.” will be displayed.
Initialize the encoder at the current position and reset the error.
Initialize the encoder using one of the following procedures.
Execute the following command at the [Monitor Window].
>Encreset [The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+ menu-[Tools]-[Controller], then click <Reset Controller>.
After resetting the error, the motor encoder of the joint whose parts have been replaced will be initialized.
Set the jog mode to “Joint” in [Jog & Teach] and operate the Manipulator in jog motion to match the home position marks (0 pulse position)
of the joint accurately.
When the joint cannot move to the home position, operate the Manipulator to match the tram mark placed in C-B series Manual C8
Manipulator 3.3.6 Checking the Basic orientation, C-B series Manual C12 Manipulator 4.3.6 Checking the Basic orientation as accurate as
possible.
Initialize the encoder when the joint matches the home position or the tram mark.
For the encoder initialization, refer to the procedure indicated above.
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position. (Due to the structure of the Manipulator,
any offset in the position of the Joint #5 affects the Joint #6.)
Calibrate the origin of the Joint #6 together when calibrating the Joint #5.
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