Epson T-B Series - Reference: Calibration Procedure Without Using Calibration Wizard

T3-B T6-B Maintenance 17. Calibration
142 T-B series Maintenance Manual Rev.1
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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.
17.4 Reference: 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 “17.2 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 “17.3
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.
Check the point data for calibration
(1)
-1 After the part replacement, execute 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 Manipulator when all joints are in the motion range.
(3)
-2 Manually move the joint that needs origin alignment to its approximate 0
pulse position.
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