Maintenance 13. Calibration
186 G6 Rev.21
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.
Standard model
Cleanroom model,
Protected model
with bellows option
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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