Epson VT Series - Calibration Procedures

VT6L Maintenance 19. Calibration
176 VT series Maintenance Manual Rev.2
19.2 Calibration Procedures
Command Input
Command execution is required in some calibration procedures.
Select the EPSON RC+ menu-[Tools]-[Command Window].
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedures.
Follow steps 1 to 6 to calibrate the Manipulator.
1.
Basic
Orientation Confirmation
Calibration is performed with the basic
orientation of the Manipulator.
For details about the basic orientation, refer to
“
VT series Manual VT6L Manipulator
3.
9 Checking the Basic Orientation”.
When the Manipulator cannot have the basic orientation, define the reference
orientation in advance, and record the point data. Also, put the “match marks” to
indicate the orientation.
The coordinate points including the Arm orientation are referred to as “points”, and the
data of the points are called “point data” in EPSON RC+.
2.
Part
Replacement
Replace the parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement
3.
Encoder Initialization
Follow the procedures below to initialize
the encoder.
EPSON
RC+
Execute the following command in
the [Command Window].
>Encreset
[The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+ menu
-[Tools]-[Controller], then click <Reset Controller>.