Calibration Procedures - Epson VT Series Maintenance Manual

19.2 Calibration Procedures

Command Input
Command execution is required in some calibration procedures.
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
The page above is indicated as [Jog & Teach] in the calibration procedures.
Follow steps 1 to 6 to calibrate the Manipulator.
1. Basic Orientation Confirmation
2. Part Replacement
3. Encoder Initialization
EPSON
RC+
176
Select the EPSON RC+ menu-[Tools]-[Command Window].
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page.
Calibration is performed with the basic orientation of the Manipulator.
For details about the basic orientation, refer to "VT series Manual VT6L Manipulator
3.9 Checking the Basic Orientation".
When the Manipulator cannot have the basic orientation, define the reference
orientation in advance, and record the point data. Also, put the "match marks" to
indicate the orientation.
The coordinate points including the Arm orientation are referred to as "points", and the
data of the points are called "point data" in EPSON RC+.
Replace the parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement
Follow the procedures below to initialize the encoder.
Execute the following command in the [Command Window].
>Encreset [The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+ menu-[Tools]-[Controller], then click <Reset Controller>.
VT6L Maintenance 19. Calibration
VT series Maintenance Manual Rev.2