Nachi EZ-CFDL Series User Manual

3.4Encoder reset and encoder
correction
3.4.2
Encoder Correction procedure
1
Upon completion of the encoder
resetting, proceed with the encoder correction.
Press f9 <Encoder Correct>.
>>
The screen which appeared immediately after [3 Machine Constants] [4 Encoder
Correction] were selected is restored.
2
Either "Data Input" or "Position Record" can be used as the method for encoder
correction.
Correction
method
Details
Position
Record
In this screen, the mechanical position is regarded
as a reference
position for the axis when
[Enter] and [REC] keys are pressed and
then the encoder correction value is calculated and
set.
Select this method at a production
process or when a motor or
mechanism is to be replaced. Be absolutely sure to
perform the
operations with the robot placed in a posture where the all axes are
aligned to the "reference position".
The correction value is input by pressing
[Enter] followed by [REC]. (These values are
input for each axis.)
Encoder value (in hexadecimal
notation) after correction
An
gle (deg
.) of each a
xis
Data Input
Use this method when the encoder correction values are already
known.
An "encoder correc
tion value which is already k
nown" is a
post-mastering encoder correction value which is
provided inside
the controller when the robot
is shipped from the factory.
Therefore, cases where this screen is used to set
the values after
shipment are as follows;
• When the encoder battery has
been replaced
• After the controller's memory has been
formatted
When these values are input, it is acceptable for the robot to be in
any position and any posture.
The encoder correction value is
input (in decimal notation) here.
Encoder value (in decimal
notation) after correction
Angle (deg.) of
each axis

Nachi EZ-CFDL Series Specifications

General

Brand	Nachi
Model	EZ-CFDL Series
Category	Controller
Language	English