Epson LS20-B Series

Maintenance 13. Calibration
160 LS20-B Rev.4
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
0 pulse
+
−
0 pulse position of Joint #2:
position where Arms #1 and #2
are in a straight line
(Regardless of the Joint #1
direction.)
0 pulse
+
−
0 pulse position of Joint #3:
upper limit position in motion
range
The height of Joint #3 depends on
manipulator model.
Standard model
Cleranroom model
0 pulse position of Joint #4:
position where the flat surface on the shaft (or
set screws of the mechanical stop on the
bottom) faces toward the tip of Arm #2
Flat surface
Set screws
0 pulse
+
−