11. Calibration Part 2: Maintenance
194
Calibrating Axis #3
First, perform steps (1) to (10) in the Common procedure for calibration section.
(11) Select a current teach point, which is easy to verify for accuracy, and move the robot
to that point using servo control. Because of the error due to origin offset, the same
position will not be obtained. Although the error is less than one revolution of the
motor, care should be taken to avoid interference with surrounding machinery.
One revolution of the Axis #1 motor: ±4.5°
One revolution of the Axis #2 motor: ±7.2°
One revolution of the Axis #3 motor: ±13.4 mm
One revolution of the Axis #4 motor: ±22.5°
We will use P1 in these steps. Move Axis #3 above this point using the JUMP
command.
<Example>
> JUMP P1:Z0 ' Set the Axis #3 high to prevent interference
with surrounding machinery.
(12) Display the coordinates of this position with the PLIST command and note the [C]
value.
<Example>
> PLIST 1
P1 = [A], [B], [C], [D] /0
(13) Calculate the number of Axis #3 pulses at this point from the value which was noted in
step (12). Multiply the [C] by Axis #3 resolution (307.2 pulse/mm) and round off
after the decimal point. This value is called [E].
[E] = [C] × 307.2 (Round E off after the decimal point)
(14) Substitute the [E] value in the CALPLS command and execute. [E] is always
negative.
> CALPLS 0,0,[E],0
(15) Move Axis #3 with the jog key and determine the proper original position.
(16) Execute the CALIB command for Axis #3.
>CALIB 3
(17) Display the number of pulses at this position using the PULSE command and check
that it matches the value of [E] obtained in step (13) above.
<Example>
> PULSE
[a] [b] ' Axes #1 and #2 pulses.
[c] [d] ' Axes #3 and #4 pulses.
(18) Move to another teach point and check the position.
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