Epson VT Series Manipulator Manual page 261

19. Calibration
4.
EPSON
RC+
EPSON
RC+
EPSON
RC+
EPSON
RC+
VT Rev.1
Calibration
4-1 Visually move the calibrating Joint of the Manipulator to the basic
orientation
Set the jog mode to "Joint" in the [Jog & Teach] panel from EPSON RC+ menu -
[Tools] - [Robot Manager], and then move the Manipulator in Jog motion so that
the target joint matches the basic orientation as much as possible.
When the Manipulator cannot have the basic orientation, move the Manipulator
so that the "marks" depending on the predetermined reference orientation are
aligned.
4-2 Initialize the Encoder
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
Joint #1 >Encreset 1
Joint #2 >Encreset 2
Joint #3 >Encreset 3
Joint #4 >Encreset 4
Joint #5 >Encreset 5, 6
Joint #6 >Encreset 6
4-3 Reboot the controller
Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>.
4-4 Specify a pulse value set as an origin point
Execute the command in the [Command Window] from EPSON RC+ menu -
[Tools] according to the joint to adjust as follows.
>calpls J1 pulse, J2 pulse, J3 pulse, J4 pulse, J5 pulse, J6 pulse
* Manipulator will not move.
Specify the pulse values "0" when the Manipulator is aligned to the basic
orientation, or the values recorded at the predetermined reference orientation
(where the match marks are aligned) to the command parameters (pulse values).
If the point data for the reference orientation is "P1", the command parameters can
be specified as follows
>calpls ppls(P1,1), ppls(P1,2), ppls(P1,3), ppls(P1,4),
ppls(P1,5), ppls(P1,6)
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