Maintenance 8. Calibration
360 N6 Rev.2
-1.
Align the calibration marks of the target joint
the jog mode to “Joint” in the [Jog & Teach] panel from EPSON RC+ menu -
Tools] - [Robot Manager], and then move the Manipulator in Jog motion so that the
n the target joint match as much as possible.
r to “Calibration marks of each joint” for location of the calibration marks.
-2
Execute the command in the [Command Window]
from EPSON RC+ menu - [Tools]
according to the joint to adjust as follows.
Joint #1 >Encreset 1
Joint #2 >Encreset 2
Joint #3 >Encreset 3
Joint #4 >Encreset 4
Joint #5 >Encreset 5, 6
Joint #6 >Encreset 6
-[Tools]-[Controller], then click <Reset Controller>.
-3
Execute the origin point setting
Execute the following command in the [Command Window] to
specify the pulse
values to be set as the origin point.
>calpls J1 pulse, J2 pulse, J3 pulse, J4 pulse, J5 pulse, J6 pulse
* Manipulator will not move.
“0”
when the Manipulator is aligned to the calibration marks,
or
the values recorded at the predetermined reference orientation (where the match
to the command parameters (pulse values).
If the point data for the reference orientation is “P1”, the command parameters can be
specified as follows
>calpls ppls(P1,1)
, ppls(P1,2), ppls(P1,3), ppls(P1,4),
ppls(P1,5), ppls(P1,6)
Then, execute the following command in the [Command Window] to set the specified
pulse value
s to the encoder according to the joint to set the origin point.
Joint #1 >Calib 1
Joint #2 >Calib 2
Joint #3 >Calib 3
Joint #4 >Calib 4
Joint #5 >Calib 5,6
Joint #6 >Calib 6
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position.
(Due to the structure of the Manipulator, any offset in the position of the Joint
#5
Calibrate the origin of the Joint #6 together when calibrating the Joint #5.
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