11. Calibration Part 2: Maintenance
182
Calibrating Joint #3
First, perform steps (1) to (10) in the Common procedure for calibration section.
(11) Select a current teach point, which is easy to verify for accuracy, and move the robot
to that point using servo control. Because of the error due to origin offset, the same
position will not be obtained. Although the error is less than one revolution of the
motor, care should be taken to avoid interference with surrounding machinery.
One revolution of the Joint #1 motor: ±4.5°
One revolution of the Joint #2 motor: ±7.2°
One revolution of the Joint #3 motor: ±13.4 mm
One revolution of the Joint #4 motor: ±22.5°
We will use P1 in these steps. Move Joint #3 above this point using the JUMP
command.
<Example>
> JUMP P1:Z(0) ' Set Joint #3 high to prevent interference with
surrounding machinery.
(12) Display the coordinates of this position with the PLIST command and note the [C]
value.
<Example>
> PLIST 1
P1 = [A], [B], [C], [D] /0
(13) Calculate the number of Joint #3 pulses at this point from the coordinate value that
was noted in step (11). Multiply [C] by the Joint #3 resolution (307.2 pulse/mm) and
round off after the decimal point. This value is called [E].
[E] = [C] × 307.2 (Round E off after the decimal point)
(14) Substitute the [E] value using the CALPLS command and input. [E] is always
negative.
> CALPLS 0,0,[E],0
(15) Using the Jog & Teach dialog, jog Joint #3 to the original position.
(16) Execute the CALIB command for Joint #3.
> CALIB 3
(17) Display the number of pulses at this position using the PULSE command and check
that it matches the value of [E] obtained in step (13) above.
<Example>
>PULSE
PULSE: [a] pls [b] pls [c] pls [d] pls
(18) Move to another teach point and check the position.
RC+
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