Epson ES Series - Accurate Calibration of Joint #2

11. Calibration Part 2: Maintenance
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(18) Use the SLOCK command to put the free joints back under servo control.
<Example>
>SLOCK 1,3 ' Joints #1 and #3 are under servo control
(19) Move to another teach point and check the position.
Accurate calibration of Joint #2
For accurate calibration of Joint #2, calculation of robot working point coordinates is most
important in the following cases.
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Entering coordinate values to register working point for teaching. (MDI teaching)
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Switching the arm mode between right and left at a given point.
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Using the PALLET command.
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During CP control (such as liner or circular interpolation).
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Using the LOCAL command.
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For statements using relative coordinates < Example, P1+X100 >.
If the above methods do not obtain the required accuracy of Joint #2, calibrate for both right
and left arm orientations. Note that this method cannot be used in the event of run-out due
to rotation of Joint #4.
(1) Display HOFS values using the HOFS command and note the [A], [B], [C], and [D]
values.
<Example>
>HOFS
[A] [B] ' HOFS values for Joints #1 and #2.
[C] [D] ' HOFS values for Joints #3 and #4.
(2) Select a point for teaching that is within the region accessible to both right and left
orientation and is easy to verify for accuracy. Define P1 using the following
statement.
<Example>
>P1=P*
(3) Display the number of pulses at the P1 position using the WHERE command. Note
the Joint #2 value [F1].
<Example>
> WHERE
Pulse 1:[E] 2:[F1] 3:[G] 4:[H] ' Joints #1 - #4 pulses.
(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.
' (/R at end of statement for left to right)
> SFREE ' All joints can now be moved manually.
SPEL 95