Epson SCARA ROBOT Manipulator Manual page 198

Maintenance 13. Calibration
186
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
0 pulse position of Joint #2:
position where Arms #1 and
#2 are in a straight line
(Regardless of the Joint #1
direction.)
0 pulse position of Joint #3:
upper limit position in motion
range
The height of Joint #3 depends
on manipulator model.
0 pulse position of Joint #4:
position where the flat surface
(or groove in the up/down
mechanical stop) on the shaft
faces toward the tip of Arm #2
Standard model
Groove
Flat surface
0 pulse
0 pulse
Cleanroom model,
Protected model
with bellows option
0 pulse
G6 Rev.21