Epson T-B Series - Page 157

T3-B T6-B Maintenance 17. Calibration
T-B series Maintenance Manual Rev.1 145
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-3
Move the Manipulator by hand to a rough position/posture of the calibration
point data.
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-4 Create the data from the calibration point data.
Enter and execute the following command in [Command Window].
(In this example, P1 is used as the calibration point data.)
> Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1
,3),
Ppls(P1,4)
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-5 Move the joint to the specified point using a motion command.
For example, when the specified point data is “P1”,
execute “Jump P1:Z(0)” from [Jog & Teach].
* The joint NOT being calibrated moves to the original position.
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-6
Accurately align the joint* being calibrated to the specified point using jog
commands.
* You must move Joint #3 and #4 to the position when calibrating Joint #4.
Select the jog mode [Joint] from [Jog & Teach] to execute the jog motion.
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-7 Execute the calibration.
Input one of the following commands to [Command Window] accordi
ng to the
joint being calibrated.
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
6.
Accuracy Testing
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-1 Move the manipulator to other points and check if it can move without
problems. If it does not move to the same position, re-calibrate using another
point. You must set the point again if reproducibility cannot be assured
through calibration