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Maintenance 13. Calibration
13.4 Calibration Procedure without using Calibration Wizard
This section indicates the calibration without using the calibration wizard of EPSON RC+.
NOTE
For details of calibration using the calibration wizard, refer to Maintenance: 13.2
Calibration Procedure.
When coordinates for the Manipulator working point require calculation, it is important for
Joint #2 to be calibrated accurately. Execute the procedure in "Calibration Using Right /
Left Arm Orientations" to accurately calibrate Joint #2. For details, refer to Maintenance:
13.3 Accurate Calibration of Joint #2.
You cannot calibrate Joint #4 alone because of the structure of the Manipulator. When
calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time.
The reference point (a point to identify the position of the manipulator) needs to be specified
NOTE
for calibration.
Follow steps 1 to 6 described below in order to calibrate the origin.
1.
2.
3.
162
Basic Pose Confirmation
(1)-1 After the part replacement, execute the calibration using the point data currently
registered.
Confirm the point data number (P*) to reconstruct the correct manipulator
position.
* Point data before the parts replacement (motor, reduction gear, belt, etc.) is
necessary for the calibration.
Part Replacement
(2)-1 Replace parts as dictated by this manual.
* Be careful not to injure yourself or damage parts during part replacement.
Encoder Initialization
(3)-1 Turn ON the Controller when all joints are in the motion range.
(3)-2 Manually move the joint that needs origin alignment to its approximate 0
pulse position.
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
+
0 pulse
−
LS10-B Rev.6
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