Epson N6 Series - Page 373

Maintenance 8. Calibration
N6 Rev.2 361
5.
Position adjustment by teaching point (perform if necessary)
EPSON
RC+
After calibration, move the Manipulator to the selected point data by jogging in [Jog &
Teach].
When the selected point data is “P1”,
Execute “Motor On” in [Control Panel] and execute “Go P1” in [Jog & Teach].
EPSON
RC+
Adjust the calibrated joint
s accurately by jog command so that the end effector is
aligned to the selected point data position.
*
When the Joint #5 is calibrated, adjust the Joint #5 and #6.
Select the
“Joint” jog mode from [Jog & Teach] to change and adjust the angle of the
target
joint in the jog motion.
Set the pulse values again at the adjusted point.
Execute the following command in the [Command Window] to specify the pulse
values to set.
>calpls J1 pulse, J2 pulse, J3 pulse, J4 pulse, J5 pulse, J6 pulse
* Manipulator will not move.
Specify the pulse values of the selected point data to
the command parameters.
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)
* Manipulator will not move.
Then, execute the following command in the [Command Window] to set the specified
pulse values 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
6
.
Accuracy Testing
Move the Manipulator to a different pose (point) to verify whether it moves back to
the original position.
If accuracy is inadequate, it is necessary to re-calibrate the
origin using a different pose (point).
You must set the pose (point) again if the
Manipulator does not move back to the original position after re
-calibration.