C8-B/C12-B Service Manual Adjustment Disclosure Scope: Maintenance Trained Personnel Only
(C) Seiko Epson Corporation 3-19 Rev.1
5. Calibration (More accurate positioning)
Move the Manipulator to the selected point data by jogging in [Jog & Teach].
Move the joint* which is not calibrated to the specified point by motion command.
* When the Joint #5 is being calibrated, move the Joints #1 - #4 to the home positions.
For example, when the selected point data is “P1”, execute “Motor On” in [Control Panel] and execute “Go P1” in [Jog & Teach].
Position the calibrating joint* to the selected point data position accurately by jog command.
* When the Joint #5 is being calibrated, move the Joint #5 and #6 to the home positions.
Select the “Joint” jog mode from [Jog & Teach] to operate in the jog motion.
Enter the command below in the command window and execute it.
Execute the command below in the menu -[Tools]-[Command Window].
>calpls ppls(P1,1), ppls(P1,2), ppls(P1,3), ppls(P1,4), ppls(P1,5), ppls(P1,6)
* The Manipulator will not move.
Perform the calibration. Input one of the following commands according to the joint being calibrated.
Joint #1 : >Calib 1
Joint #2 : >Calib 2
Joint #3 : >Calib 3
Joint #4 : >Calib 4
Joint #5 : >Calib 5,6
Joint #6 : >Calib 6
⚫ Warning 590 (Detect the different of the calibration settings in the controller and Safety Board) occurs when the
Calib command are executed.
⚫ Warning 590 is cleared by updating the Hofs value in the safety board.
To Next Page
Loading...
