Epson T-B Series - Page 155

T3-B T6-B Maintenance 17. Calibration
T-B series Maintenance Manual Rev.1 143
0 pulse position of Joint #1:
Position aligned with X-axis in
Robot coordinate system
0 pulse
+
−
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
+
−
0 pulse position of Joint #3:
Upper limit position in motion
range
The height of Joint #3 depends
on manipulator.
T3-B
T6-B
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
Groove
Flat surface
0 pulse
+
−