Calibrating Joint #3 - Epson ES Series Manipulator Manual

11. Calibration

Calibrating Joint #3

SPEL 95
188
First, perform steps (1) to (10) in the Common procedure for calibration section.
(11) Select a current teach point, which is easy to verify for accuracy, and move the robot
to that point using servo control.
Because of the error due to origin offset, the same position will not be obtained.
Although the error is less than one revolution of the motor, care should be taken to
avoid interference with surrounding machinery.
One revolution of the Joint #1 motor: ±4.5°
One revolution of the Joint #2 motor: ±7.2°
One revolution of the Joint #3 motor: ±13.4 mm
One revolution of the Joint #4 motor: ±22.5°
We will use P1 in these steps. Move Joint #3 above this point using the JUMP
command.
<Example>
>JUMP P1:Z(0)
(12) Display the coordinates of this position with the PLIST command and note the [C]
value.
<Example>
>PLIST 1
P1=[A],[B],[C],[D]
(13) Calculate the number of Joint #3 pulses at this point from the coordinate value which
was noted in step (12). Multiply [C] by the Joint #3 resolution (307.2 pulse/mm)
and round off after the decimal point. This value is called [E].
[E] = [C] × 307.2 (Round E off after the decimal point)
(14) Substitute the [E] value using the CALPLS command and input. [E] is always
negative.
>CALPLS 0,0,[E],0
(15) Move Joint #3 with the jog key and determine the proper original position.
(16) Execute the CALIB command for Joint #3.
>CALIB 3
(17) Display the number of pulses at this position using the WHEREE command and check
that it matches the value of [E] obtained in step (13) above.
<Example>
>WHERE
Pulse 1:[a] 2:[b] 3:[c] 4:[d]
(18) Move to another teach point and check the position.
Part 2: Maintenance
' Set Joint #3 high to prevent interference with
surrounding machinery.
' Joints #1 - #4 pulses.