Epson G3 Series Manual page 188

Maintenance 14. Calibration
(15) Click the <Next> button.
(16) Execute the procedure in "Calibration Using Right / Left Arm Orientations" to
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accurately calibrate Joint #2.
Go on to the step (17) for the other joints calibration.
i. Move to another point that has different pose (from righty to lefty) using Jump
command. Click the <Yes> button.
ii. Jog to the accurate reference position.
G3 Rev.14