Epson LS20 Series Manipulator Manual page 160

Maintenance 13. Calibration
148
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
0 pulse position of Joint #2:
position where Arms #1 and #2
are in a straight line
(Regardless of the Joint #1
direction.)
0 pulse position of Joint #3:
upper limit position in motion
range
The height of Joint #3 depends on
manipulator model.
LS20-804S, LS20-A04S
0 pulse position of Joint #4:
position where the flat surface of the shaft (or
the set screw of the bottom mechanical stop)
faces toward the tip of Arm #2.
0 pulse
+
LS20-804C, LS20-A04C
+
0 pulse
−
+
0 pulse
−
−
Set Screws
Flat Surface
LS20 Rev.4