Calibrating Joint #1, #2, And #4 - Epson ES Series Manipulator Manual

Part 2: Maintenance

Calibrating Joint #1, #2, and #4

SPEL 95
Joint #1, #2, and #4 are all calibrated by the same method. Calibrating two or more joints
at the same time can affect accuracy. For best accuracy, calibrate each joint one at a time.
First, perform steps (1) to (10) in the Common procedure for calibration section.
(11) For each joint, select a current teach point that 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:
One revolution of the joint #2 motor:
One revolution of the joint #4 motor:
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 number of pulses at this position using the WHERE command and note
the four values.
<Example>
> WHERE
pulse 1:16000
(13) Enter the numbers noted in step 12 using the CALPLS command.
<Example>
>CALPLS 16000,10000,0,-10
(14) Use the SFREE command to free the joint being calibrated and Joint #3.
<Example>
> SFREE 1,3
(15) Manually move the joint to be calibrated, and determine the proper original position.
When moving Joint #3, move while pushing the joint #3 break release button.
(16) Execute the CALIB command for the joint to be calibrated.
<Example>
>CALIB 1
(17) Display the number of pulses at this position using the WHERE command and check
that they match the values obtained in step (12) above.
<Example>
>WHERE
Pulse 1:16000
±4.5°
±7.2°
±22.5°
' Set Joint #3 high to prevent interference with
surrounding machinery.
2:10000 3:0 4:-10
' Joints #1 and #3 can now be moved manually.
' Joint #1 is calibrated.
2:10000 3:0 4:-10
11. Calibration
' Joints #1 - #4 pulses.
' Joints #1 - #4 pulses.
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