Epson SCARA ROBOT User Manual

Maintenance 13. Calibration
G6 Rev.21 195
Calibration Using Right / Left Arm Orientations
(1)
Check the point data for calibration
Use a pose (point) you can easily verify the accuracy within the work envelop
of
both right and left arm. Then, check the number of pose (point) you want to use.
(2)
Open the Tools menu | Robot Manager | Control Panel and click the MOTOR ON.
(3)
Click
the <Free All> button to free all joints from servo control. Now, you can move
arms by hands.
(4)
Move the arms to the position of point data for calibration in rightly arm orientation.
(5)
From the current position, teach any point data number unused.
This pose
(point) is now called P1.
Specify the point number
“1” and click the <Teach> button in the [Jog & Teach].
(6)
Click
the Lock All in the [Control Panel] to lock all joints under servo control.
(7)
Switch to the lefty arm orientation. Then, move the arm to the same point.
>Jump P1/L:Z(0) ' Change the arm orientation from righty to lefty
Z is the maximum position
* If there is interference on the way from right to lefty, click the Free All in the
[Control Panel] and change the arm orientation to lefty by hands. Then, go to the
step (6), (7).
(8)
The joints are
slightly out of position.
Adjust the gap with the
−
Z in the Jogging group in the [Jog & Teach]. Then, teach
another point data number unused.
This pose (point) is now called P2.
Specify point number
“P2” and click the <Teach> button in [Jog & Teach].
(9)
Input the new Hofs value.
>
Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
(10)
From the current lefty arm
orientation
(the position in the step (8)), teach the point
data number used in the step (8).
This pose (point) is called P2.
Specify point number
“P2” and click the <Teach> button in [Jog & Teach].
(11)
Switch to the righty arm orientation. Then, make sure the manipulator move to the
correct position.
>Jump P2/R ' Change the arm orientation from lefty to righty
* If there is any interference on the way from lefty to righty, click the Free All in the
[Control Panel] and change the arm orientation to righty by hands. Then, go to
the step (6), (11).
(12)
Move the manipulator to other point data and make sure it
moves to the correct
position. Teach some more points if required.
*
Delete the two points taught for the Joint #2 calibration.

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English