Epson ProSix S5 Series User Manual

Maintenance 12. Calibration
S5 Rev.5 191
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When the origin of Joint #5 is calibrated, Joint #6 will be out of position.
(Due to the structure of the Manipulator, any offset in the position of Joint #5
affects
Joint #6.)
Calibrate the origin of Joint #6 at the same time when calibrating Joint #6.
4.
Rough
Calibration
C
alibrate the origin of Joint #5 at the same time when calibrating Joint #6.
Select either the point
s of the basic pose you previously set in the
Setup & Operation
3.6 Setting the Basic Pose for Calibration
or the currently registered point data that
makes it easy to verify the accuracy of the joint whose origin you
want
to calibrate.
Move the Manipulator to the selected point while avoiding interference with
perip
heral equipment.
To
perform temporary calibration, input the pulse value of the specified point data.
For example, w
hen the specified point data is “P1,” execute the following command.
>
Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1,3), Ppls(P1,4), Ppls
(P1,5), Ppls(P1,6)
P
erform the temporary calibration. Input one of the following commands
according
to the
joint being calibrated.
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
5.
Calibration
(Accurate Positioning)

NOTE

NOTE

Epson ProSix S5 Series Specifications

General

Brand	Epson
Model	ProSix S5 Series
Category	Robotics
Language	English