Epson G20 Series User Manual

Maintenance 14. Calibration
G10 / G20 Rev.20 235
(3)
-3 Connect EPSON RC+ to the Controller.
Select the robot to be calibrated. Input as below in the [Command
Window] and execute.
(This example uses “robot 1”.)
> robot 1
(3
)-4 Execute the absolute encoder initialization command.
Input one of the following commands
to [Command Window] according to the
joint being calibrated.
Joint #1:
>EncReset 1
Joint #2:
>EncReset 2
Joint #3:
>EncReset 3
Joint #4:
>EncReset 3, 4
(3
)-5 Reboot the Controller.
Select EPSON RC+ menu-[Tools]-
[Controller] and click the <Reset
Controller> button.
* This window will disappear when the Controller starts up.
4.
Rough
Calibration
(4)
-1 Execute the following command from the menu-[Tools]-[Command Window].
>calpls 0,0,0,0
* Manipulator does not move.
(4)
-2 Execute one of the following commands according to
the joint you want to
calibrate from the menu-[Tools]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
5.
Calibration
(Accurate Positioning)
(5)
-1 Turn ON the motors from the EPSON RC+ menu -[Tools]
-[Robot Manager]-[Control Panel].
(5)
-2 Click the <Free All> button
to free all joints from servo control. Now, you
can move arms by hands.
(5
)-3
Move the Manipulator by hand to a rough position/posture of the calibration
point data.
EPSON
RC+ 7.0

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English