Maintenance 13. Calibration
148 LS20 Rev.4
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
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 position of Joint #3:
upper limit position in motion
range
The height of Joint #3 depends on
manipulator model.
0 pulse position of Joint #4:
position where the flat surface of the shaft (or
the set screw of the bottom mechanical stop)
faces toward the tip of Arm #2.
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