Calibration Procedure - Epson SCARA ROBOT Manipulator Manual

Maintenance 13. Calibration

13.2 Calibration Procedure

EPSON RC+ has a wizard for calibration.
This section indicates the calibration using the calibration wizard of EPSON RC+.
You can also calibrate with TP1 in TEACH mode. For details, refer to RC180/RC90
EPSON
RC+ 5.0
option Teach pendant TP1 manual Operation: 2.7 Calibrating Origin : E2 Series / G
Series / RS series.
The same calibration procedure is used for each joint.
The steps below are calibration using Joint #1. Follow the steps below to calibrate other
joints.
When coordinates for the Manipulator working point require calculation, it is important
for Joint #2 to be calibrated accurately. Execute the procedure in "Calibration Using
Right / Left Arm Orientations" to accurately calibrate Joint #2. For details, refer to
Maintenance: 13.3 Accurate Calibration of Joint #2.
When calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time. You
cannot calibrate Joint #4 alone because of the structure of the Manipulator.
If Err9716 or 5016 (Power supply failure of the absolute encoder. Replace the battery.
NOTE

Check the robot internal wiring) occurs, apply the procedure of Maintenance: 13.4
Calibration Procedure without using Calibration Wizard - 3. Encoder Initialization and
then, start the calibration wizard.
The reference point (a point to check the accuracy) needs to be specified for calibration.
(1) Start the calibration wizard.
EPSON
RC+ 5.0
184
i. Select EPSON RC+ menu-[Setup]-[Controller] to display the [Controller]
dialog.
ii. Select [Robot]-[Calibration] to display [Robot Calibration].
iii. Select the joint and click the <Calibrate...> button.
G6 Rev.21