Epson RC700 Manual page 57

Calibration Type 4
In Calibration Type 4, calibration is accomplished using two sensors. Use the NORG
signal for rough positioning first. Then, to position more closely, pick up the ORG
signal (if a stepper motor is used) or ZORG signal (if a servo motor is used). Place the
NORG sensor in the direction of CCW Limit Position. Place the ORG sensor on the
motor's rotation axis and, leave +ZORG disconnected when a stepper motor is used.
When a servo motor is used, connect the +Z Phase of the servo motor to +ZORG and -Z
Phase to -ZORG respectively. Leave ORG disconnected when a servo motor is used.
The sequence of rough positioning in Calibration Type 4 using NORG signal is as
follows:
CCW LIMIT
When the starting position is in the range of A above. (Operation: 2 steps)
When the starting position is in the range of B above. (Operation: 3 steps)
When the starting position is in the range of C above. (Operation: 2 steps)
The above motion direction is subject to and affected by the Direction parameter in the
System Configuration | Robot. The directions shown above without parentheses indicate
the motion direction when Normal is selected while those marked in parentheses indicate
the motion direction when Reverse is selected.
RC700 / RC90 option PG motion system Rev.2
CCW (CW)
CCW (CW) direction
Limit Position
NORG
CW LIMIT
C B
<1>
<2>
<1>
LD
<2>
<3>
<1>
<2>
Working Range
target origin
C
SD
Roughly positioned
SD
(the first step in this calibration)
SD
SD
Roughly positioned
(the first step in this calibration)
SD
Roughly positioned
SD
(the first step in this calibration)
4. Calibration Types
CW (CCW)
CW (CCW) direction
Limit Position
A
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