Part 2: Maintenance 11. Calibration
187
(3) Open the acrylic plate on the sensor monitor on the base connector plate.
Reset switch
DIP switch
Sensor monitor
For protected models, remove four bolts (M3×8) from the encoder reset cover and open the
cover on the base connector plate. The encoder reset cover has an O-ring that must not be
lost. (Refer to Sealing the Manipulator in chapter 13. Protected Model Maintenance.)
(4) Set the DIP switch bits corresponding to the joints to be calibrated to the ON position.
(5) Hold down the reset switch for at least one second. (The error display does not
change.)
(6) Exit SPEL 95, and then start it again. Open the [Robot Control Panel] dialog and
click the Motor <ON> button. Error F-5136 will be displayed. Click the <RESET>
button. The error should clear.
(7) Return all DIP switch bits to the OFF position.
(8) Close the acrylic plate on the sensor monitor.
For protected models, attach the O-ring to the encoder reset cover and fasten the cover to
the base connector plate with four bolts (M3×8). (Refer to Sealing the Manipulator in
chapter 13. Protected Model Maintenance.)
(9) Visually determine the current position, and enter that as the 0 pulse position with the
CALPLS command
> CALPLS 0,0,0,0
(10) Execute the CALIB command for the joints requiring point alignment.
<Example>
>CALIB 1 ' Calibrate Joint #1.
From this point forward, the method used for Joint #3 differs from that used with Joint #1,
#2 and #4. To continue, refer to the corresponding section below.
Joint #3 should be calibrated before other joints. Joint #3 can interfere with the calibration
of other joints if it is too low.
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