11. Calibration Part 2: Maintenance
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(17) Display the number of pulses in this position using the PULSE command and check
that they match the values obtained in step (12) on previous page.
<Example>
> PULSE
16000 10000 ' Axes #1 and #2 pulses.
0 -10 ' Axes #3 and #4 pulses.
(18) Use the SLOCK command to put the free axes back under servo control.
<Example>
>SLOCK 1,3 ' Axis #1 and #3 are under servo control.
(19) Move to another teach point and check the position.
Accurate calibration of Axis #2
For accurate calibration of Axis #2, calculation of robot working point coordinates is most
important in the following cases.
Entering coordinate values to teach a point.
Switching the arm orientation between right and left at a given point.
Using the PALET command.
During CP control (such as liner or circular interpolation).
Using the LOCAL command.
For statements using relative coordinates. < Example, P1+X100 >
If the methods above require accuracy of Axis #2, then calibrate for both right and left arm
orientations. Note that this method cannot be used if Axis #4 has excessive run-out.
(1) Display HOFS values using the HOFS command and note values [A], [B], [C], and
[D].
<Example>
> HOFS
[A] [B] ' HOFS values for Axes #1 and #2.
[C] [D] ' HOFS values for Axes #3 and #4.
(2) Select a point for teaching that is within the region accessible to both right and left arm
and is easy to verify for accuracy. Carry out teaching and call the point P1.
<Example>
> P1=P*
(3) Display the number of pulses at the P1 position using the PULSE command. Note the
Axis #2 value [F1].
<Example>
> PULSE
[E] [F1] ' Axes #1 and #2 pulses.
[G] [H] ' Axes #3 and #4 pulses.
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