Epson VT Series - Page 186

VT6L Maintenance 19. Calibration
174 VT series Maintenance Manual Rev.2
CAUTION
■
Normally, release the brake of
joints one by one. Take extra care if you need to
release the brakes of two or more joints simultaneously
. Releasing the brakes of
two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage or malfunction of the Mani
pulator as the arms of the
Manipulator may move in unexpected directions.
■
Be careful of the arm falling when releasing the brake.
While the brake is being released, the Manipulator’s arm falls by its own weight
.
The arm falling may cause hands and
fingers to be caught and/or may cause
equipment damage
or malfunction of the Manipulator.
Also, pay attention to the following points at the encoder initialization.
CAUTION
■
Joint #4 have no mechanical stops and they may be rotated more than 360
degrees
. If the encoder initialization is performed with improper posture, the
Manipulator moves outside the operation range
. If the Manipulator was moved
outside the operation range, the internal wiring may be damaged by being twisted
or pinched and it ma
y result in Manipulator malfunction.
When the origin position of
the Joint #4 is uncertain, check torsion of the internal cables.
The origin position is where the Manipulator has the internal cables not twisted at the basic
orientation
described in “VT series Manual VT6L Manipulator 3.9 Checking the Basic
orientation
”.
Torsion of the internal cables can be checked by removing the fol
lowing cover.
Joint #4 : Arm #3 Cover
Arm #3 Cover
3-M4×12 Sems
For details on Jog & Teach, refer to the following manual.
EPSON RC+ User’s Guide
5.11.1 [Tools]-[Robot Manager]-[Jog and Teach] Page
- For details about the basic orientation, refer to “VT series Manual VT6L Manipulator 3.9
Checking the Basic orientation”.
- Calibrate one joint at a time. (Also, replace parts of one joint at a time.) If you calibrate
the origins for multiple joints simultaneously, it will be more difficult to verify their
origins and obtain the origin correct positions.

NOTE

NOTE