Epson C12 Series Manipulator Manual page 306

Maintenance 16. Calibration
For details on Jog & Teach, refer to the following manual.
EPSON RC+ User's Guide
5.11.1 Robot Manager Command Tools: Robot Manager: Jog and Teach Page.
NOTE - For details about the basic orientation, refer to Setup & Operation 3.7 Checking the Basic

orientation.
- Whenever possible, calibrate one joint at a time. (Also, replace parts of one joint at a time
whenever possible.) If you calibrate the origins for multiple joints simultaneously, it will
be more difficult to verify their origins and obtain the origin correct positions.
However, joint #5 cannot be calibrated alone due to the structure of the Manipulator. Make
sure you calibrate joint #5 and #6 at the same time.
Calibration Flowchart
Carry out these
procedures if necessary
292
Start
1. Basic Pose
Confirmation
2. Part Replacement
3. Encoder
Initialization
4. Calibration
5. Calibration
6. Accuracy Testing
Yes
Re-calibrate?
No
End
More accurate positioning
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C12 Rev.3