Epson G3 Series User Manual

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)

Epson G3 Series Specifications

General

Number of axes	4
Payload	3 kg
Repeatability	±0.01 mm
Degrees of Freedom	4
Type	SCARA
Installation	Wall, Ceiling

Summary

Setup & Operation

1. Safety

Important safety considerations indicated by symbols; read descriptions for safe operation.

2. Specifications

Details on G3 series manipulator features, model differences, and technical specifications.

3. Environments and Installation

Guidelines for installing the robot system in suitable environments and related procedures.

5. Motion Range

5.1 Motion Range Setting by Pulse Range (for All Joints)

Methods for setting motion range using pulse range for all joints.

5.2 Motion Range Setting by Mechanical Stops

Setting motion range by physically limiting absolute movement area with mechanical stops.

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)

Setting upper and lower limits of X and Y coordinates using software, not affecting physical range.

5.4 Standard Motion Range

Diagrams showing standard (maximum) motion range specifications and definitions of areas.

Maintenance

1. Safety Maintenance

Procedures and safety precautions for performing routine maintenance on the robot system.

2. General Maintenance

Description of maintenance inspections and procedures, emphasizing schedule adherence and safety.

3. Covers

Procedures for removing and installing covers during maintenance, with safety warnings.

4. Cable

Procedures for replacing cable units, wiring diagrams, power cables, and user cables.

5. Arm #1

Procedures for replacing the Joint #1 motor and reduction gear unit, including safety precautions.

6. Arm #2

Procedures for replacing the Joint #2 motor and reduction gear unit, with safety guidelines.

7. Arm #3

Procedures for replacing the Joint #3 motor, timing belt, and brake, with safety measures.

8. Arm #4

Procedures for replacing the Joint #4 motor and timing belt, with safety guidelines.

9. Replacing Arm #1

Detailed steps for replacing the Arm #1 unit, including software configuration changes.

10. Bellows

Procedure for replacing bellows, with precautions regarding dust emission.

11. Ball Screw Spline Unit

Procedures for greasing and replacing the ball screw spline unit, with safety warnings.

12. Lithium Battery

Information and procedures for handling and replacing the lithium battery and battery board.

13. LED Lamp

Procedure for removing and installing the LED lamp.

14. Calibration

About calibration, procedures using wizard and without wizard, and accuracy testing.

15. Maintenance Parts List

List of common and environment-specific parts for maintenance, including codes and references.