Epson VT Series Maintenance Manual page 186

■ Normally, release the brake of joints one by one. Take extra care if you need to
release the brakes of two or more joints simultaneously. Releasing the brakes of
two or more joints simultaneously may cause hands and fingers to be caught
and/or equipment damage or malfunction of the Manipulator as the arms of the
Manipulator may move in unexpected directions.
■ Be careful of the arm falling when releasing the brake.
CAUTION
While the brake is being released, the Manipulator's arm falls by its own weight.
The arm falling may cause hands and fingers to be caught and/or may cause
equipment damage or malfunction of the Manipulator.
Also, pay attention to the following points at the encoder initialization.
■ Joint #4 have no mechanical stops and they may be rotated more than 360
degrees. If the encoder initialization is performed with improper posture, the
Manipulator moves outside the operation range. If the Manipulator was moved
outside the operation range, the internal wiring may be damaged by being twisted
CAUTION
or pinched and it may result in Manipulator malfunction.
When the origin position of the Joint #4 is uncertain, check torsion of the internal cables.
The origin position is where the Manipulator has the internal cables not twisted at the basic
orientation described in "VT series Manual VT6L Manipulator 3.9 Checking the Basic
orientation".
NOTE

Torsion of the internal cables can be checked by removing the following cover.
3-M4×12 Sems
Arm #3 Cover
For details on Jog & Teach, refer to the following manual.
EPSON RC+ User's Guide
NOTE

- For details about the basic orientation, refer to "VT series Manual VT6L Manipulator 3.9
Checking the Basic orientation".
- Calibrate one joint at a time. (Also, replace parts of one joint at a time.) If you calibrate
the origins for multiple joints simultaneously, it will be more difficult to verify their
origins and obtain the origin correct positions.
174
Joint #4 : Arm #3 Cover
5.11.1 [Tools]-[Robot Manager]-[Jog and Teach] Page
VT6L Maintenance 19. Calibration
VT series Maintenance Manual Rev.2