11. Calibration Part 2: Maintenance
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11.2 Calibration for SPEL 95 / SRC5** Controller
Refer to the on-line help of SPEL 95 for details of commands used in this section.
Common procedure for calibration
For both the ES and EL series manipulators, calibration steps (1) to (10) are the same for all
four joints.
(1) Turn ON the power of the robot after moving all joints into the motion range.
Confirm that an error occurs. If an error does not occur, proceed to next step.
Error F-5001 occurs when the capacitor in the motor encoder is insufficiently charged
because, for example, the motor is new. To change the capacitor, leave the power on
for 3 or more minutes. (The error display does not change.)
(2) Manually move joints to be calibrated into approximately the 0 pulse position.
Joint #1 : 0 pulse position : aligned with X-axis in robot coordinate system (See
the figure below).
Joint #2 : 0 pulse position : parallel with Arm #1 (i.e., straight) regardless of Joint
#1 direction.
Joint #3 : 0 pulse position : uppermost position in working area.
Joint #4 : 0 pulse position : flat surface on the shaft facing in the top of Arm #2
direction.
(Rear)
SPEL 95
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