Epson SCARA ROBOT Manipulator Manual page 210

Maintenance 13. Calibration
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5.
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(3)-3 Connect EPSON RC+ to the Controller.
Select the robot to be calibrated. Input as below in the [Command
EPSON
RC+ 7.0
Window] and execute.
(This example uses "robot 1".)
> robot 1
(3)-4 Execute the absolute encoder initialization command.
Input one of the following commands to [Command Window] according to the
joint being calibrated.
Joint #1:
>EncReset 1
Joint #2:
>EncReset 2
Joint #3:
>EncReset 3
Joint #4:
>EncReset 3, 4
(3)-5 Reboot the Controller.
Select EPSON RC+ menu-[Tools]-[Controller] and click the <Reset
Controller> button.
* This window will be disappeared when the Controller starts up.
Rough Calibration
(4)-1 Execute the following command from the menu-[Tools]-[Command Window].
>calpls 0,0,0,0
* Manipulator does not move.
(4)-2 Execute one of the following commands according to the joint you want to
calibrate from the menu-[Tools]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
Calibration (Accurate Positioning)
(5)-1 Turn ON the motors from the EPSON RC+ menu -[Tools]
-[Robot Manager]-[Control Panel].
(5)-2 Click the <Free All> button to free all joints from servo control. Now, you
can move arms by hands.
(5)-3 Move the Manipulator by hand to a rough position/posture of the calibration
point data.
G6 Rev.21