Part 2: Maintenance 11. Calibration
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(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 pressing 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 WHERE, and note the
Joint #2 value [F2].
<Example>
> WHERE
Pulse 1:[E] 2:[F2] 3:[G] 4:[H] ' Joints #1 - #4 pulses.
(7) Calculate the new HOFS value from the values that were noted: add the left and right
pulse numbers [F1] and [F2], add to [B] in step 1 above, 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] using the HOFS command and input. For other joint values, use the
values that were noted in step (1) on previous page.
> HOFS [A],[I],[C],[D]
(9) Move to another teach point and confirm the position.
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