Maintenance 13. Calibration
156 LS Rev.10
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
(or groove in the up/down
mechanical stop) on the shaft
faces toward the tip of Arm #2
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