Epson ProSix S5 Series - Page 206

Maintenance 12. Calibration
192 S5 Rev.5
Move the
joint* being calibrated to the specified point by motion command.
*
You must also move Joints #1 - #4 to the position when calibrating Joint #5.
For example, w
hen the specified point data is “P1”, “Motor On”
is executed from
[Control Panel], and
“Go P1” is executed from [Jog & Teach].
Accurately conform the calibrating joint* to the specified point data by jog command.
*
You must also move Joint #5 and #6 to the position when calibrating Joint #5.
Select the
Joint jog mode from the [Jog & Teach] to execute the jog motion.
P
erform the 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
6.
Accuracy Testing
Move the Manipulator into a different point to verify the reproducibility of the
position. If accuracy is inadequate, it may be necessary to re
-
calibrate the origin
using a different point. You must
set the point again
if reproducibility cannot be
assured through calibration.