Epson T-B Series - Page 156

T3-B T6-B Maintenance 17. Calibration
144 T-B series Maintenance Manual Rev.1
(3)
-3 Connect EPSON RC+ to the Manipulator.
Select a Manipulator to be calibrated. Input as below in the [Command
Window] and execute it. (This example uses “robot 1”.)
> robot 1
(3)
-4 Execute the absolute encoder initialization command.
Input one of the following commands to
[Command Window] according to the
joint being calibrated.
Joint #1: >EncReset 1
Joint #2: >EncReset 2
Joint #3: >EncReset 3
Joint #4: >EncReset 3, 4
(3)
-5 Reboot the Controller (Manipulator).
Select EPSON RC+ menu-[Tools]-[Controller] and click the <Reset
Controller> button.
* This window will be disappeared when the Controller starts up.
4.
Rough Calibration
(4)
-1 Execute the following command from the menu-[Tools]-[Command Window].
>calpls 0,0,0,0
* Manipulator does not move.
(4)
-2 Execute one of the following commands according to the joint you want to
calibrate from the menu-[Tool]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
5.
Calibration (Accurate Positioning)
(5)
-
1 Open the [Tools menu] [Robot Manager] [Control Panel] and click the MOTOR
ON.
(5)
-2
Click the <Free All> button in the [Control Panel] to free all joints. Now, you
can move arms by hands.