Epson G3 Series - Page 195

Maintenance 14. Calibration
G3 Rev.14 183
(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 be disappeared 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.
(5
)-4 Create the data from the calibration point data.
Enter and execute the following command in [Command Window].
(In this example, P1 is used as the calibration point data.)
> Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1,3), Ppls(P1
,4)