Epson LS10-B Series User Manual page 173

Calibration Using Right / Left Arm Orientations
(1) Check the point data for calibration
(2) EPSON RC+ menu-[Tools]-[Robot Manager]-[Control Panel] and click the MOTOR
(3) Click the <Free All> button to free all joints from servo control. Now, you can move
(4) Move the arms to the position of point data for calibration in rightly arm orientation.
(5) From the current position, teach any point data number unused.
(6) Click the Lock All in the [Control Panel] to lock all joints under servo control.
(7) Switch to the lefty arm orientation. Then, move the arm to the same point.
(8) The joints are slightly out of position.
(9) Input the new Hofs value.
(10) From the current lefty arm orientation (the position in the step (8)), teach the point data
(11) Switch to the righty arm orientation. Then, make sure the manipulator move to the
(12) Move the manipulator to other point data and make sure it moves to the correct position.
LS10-B Rev.6
Use a point you can easily verify the accuracy within the work envelop of both right
and left arm. Then, check the number of points you want to use.
ON.
arms by hands.
This point is now called P1.
Specify the point number "1" and click the <Teach> button in the [Jog & Teach].
>Jump P1/L:Z(0) ' Change the arm orientation from righty to lefty
* If there is interference on the way from right to lefty, click the Free All in the [Control
Panel] and change the arm orientation to lefty by hands. Then, go to the step (6),
(7).
Adjust the gap with the −Z in the Jogging group in the [Jog & Teach]. Then, teach
another point data number unused. This point is now called P2.
Specify point number "P2" and click the <Teach> button in [Jog & Teach].
> Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
number used in the step (8). This point is called P2.
Specify point number "P2" and click the <Teach> button in [Jog & Teach].
correct position.
' Change the arm orientation from lefty to righty
>Jump P2/R
* If there is any interference on the way from lefty to righty, click the Free All in the
[Control Panel] and change the arm orientation to righty by hands. Then, go to the
step (6), (11).
Teach some more points if required.
* Delete the two points taught for the Joint #2 calibration.
Maintenance 13. Calibration
Z is the maximum position
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