Calibration; About Calibration - Epson T-B Series Maintenance Manual

17. Calibration

17.1 About Calibration

After parts have been replaced (motors, reduction gear units, a brake, timing belts, ball screw
spline unit, etc.), the Manipulator cannot operate properly because a mismatch exists
between the origin stored in each motor and its corresponding origin stored in the Robot
system.
Because of that, it is necessary to perform calibration (encoder rest and calibration) to match
these origins. Note that calibration is not the same as teaching*.
* "Teaching" means to teach the Manipulator coordinate points (including poses) anywhere
in the operating area of the Manipulator.
■ To ensure safety, a safeguard must be installed for the robot system. For details
of the safeguard, refer to "T-B series Manual 1.5 Safeguard".
■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area. The motion of the
WARNING Manipulator is always in restricted (low speeds and low power) status to secure
the safety of an operator. However, operating the robot system while someone is
inside the safeguarded area is extremely hazardous and may result in serious
safety problems in case that the Manipulator moves unexpectedly.
Command Input
Calibration procedures include the process to input commands. Select EPSON RC+ menu-
[Tools]-[Command Window] to use the command window.
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the [Jog & Teach] page of the Robot Manager.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] tab to use
the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedure.
T-B series Maintenance Manual Rev.1
T3-B T6-B Maintenance 17. Calibration
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