Part 2: Maintenance 11. Calibration
197
(4) Switch the arm mode from right to left and move to the same point.
<Example>
> MOTOR ON
>JUMP P1:Z0/L ' To change from right to left arm.
' (/R at end of statement for left to right)
> SFREE ' All axes can now be moved manually.
(5) The position with left arm mode is different from the position with right arm mode.
This gap must be adjusted manually after lowering Axis #3 to the P1 position. In
order to lower Axis #3 to P1, push Axis #3 down while pushing the brake release
button.
> SLOCK ' All axes are under servo control.
(6) Display the number of pulses at the P1 position again using PULSE, and note the axis
#2 value [F2].
<Example>
> PULSE
[E] [F2] ' Axes #1 and #2 pulses.
[G] [H] ' Axes #3 and #4 pulses.
(7) Calculate the new HOFS value from the values which were noted previously: add the
left and right pulse values [F1] and [F2], add to [B] in step (1) on previous page, 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] in the HOFS command and execute. For other Axis 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.
To Next Page
Loading...
Need help?
General
