Part 2: Maintenance 11. Calibration
185
(4) Switch positioning of left and right orientation and move to the same point.
<Example>
> MOTOR ON
> JUMP P1:Z(0)/L ' To change from right to left orientation.
' (Use /R at end of statement for left to right)
> SFREE ' All joints can now be moved manually.
(5) The position in left orientation mode is different from the position in right orientation
mode. This gap must be adjusted manually after lowering Joint #3 to P1 position. In
order to lower Joint #3 to P1, push Joint #3 down while pushing the brake release
button. Then execute SLOCK.
> SLOCK ' All joints are under servo control.
(6) Display the number of pulses at the P1 position again using PULSE, and note the Joint
#2 value [F2].
<Example>
>PULSE
PULSE: [E] pls [F2] pls [G] pls [H] pls
(7) Calculate the new HOFS value from the values that were noted: add the left and right
pulse numbers [F1] and [F2], then add to [B] in step (1) on previous page, and take the
mid-way value. Incorporate + and - signs in the calculation. The new HOFS value is
called [I].
> I = B + (F1 + F2) / 2
(8) Substitute [I] in the HOFS command and execute. For other joint values, use the
values that were noted in step 1 above.
> HOFS [A], [I], [C], [D]
(9) Move to another teach point and confirm the position.
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