VT6L Maintenance 19. Calibration
178 VT series Maintenance Manual Rev.2
-5 Set the specified pulse value to the encoder
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 4
Joint #5 >calib 5,6
Joint #6 >calib 6
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position.
(Due to the structure of the Manipulator, any offset in the position of the Joint #5
affects the Joint #6.)
Calibrate the origin of the Joint #6 together when calibrating
the Joint #5.
Move the arm to several points to check if the arm moves to the original
properly.
Teach points if fine adjustment is necessary.
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