Epson SCARA ROBOT User Manual

Maintenance 13. Calibration
196 G6 Rev.21
13.4 Calibration Procedure without using Calibration Wizard
This section indicates the calibration without using the calibration wizard of EPSON RC+.
For details of calibration using the calibration wizard, refer to Maintenance: 13.2
Calibration Procedure.
When coordinates for the Manipulator working point require calculation, it is important
for Joint #2 to be calibrated accurately. Execute the procedure in “Calibration Using
Right / Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to
Maintenance: 13.3 Accurate Calibration of Joint #2.
You cannot calibrate Joint #4 alone because of the structure of the Manipulator. When
calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time.
The reference point (a point to identify the position of the manipulator) needs to be
specified for calibration.
Follow steps
1 to 6 described below in order to calibrate the origin.
1.
Basic Pose Confirmation
(1
)-1 After the part replacement, perform the calibration using the point data
currently registered.
Confirm the point data number (P*) to reconstruct the correct manipulator
position.
* Point data before the parts replacement
(motor, reduction gear, belt, etc.) is
necessary for the calibration.
2.
Part Replacement
(2
)-1 Replace parts as dictated by this manual.
* Be careful not to injure yourself or damage parts during part replacement.
3.
Encoder Initialization
(3
)-1 Turn ON the Controller when all joints are in the motion range.
(3
)-2 Manually move the joint that needs origin alignment to its approximate 0
pulse position.

NOTE

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English