Epson LS20-B Series Manual page 172

Maintenance 13. Calibration
160
0 pulse position of Joint #1:
position aligned with X-axis in
Robot coordinate system
0 pulse position of Joint #2:
position where Arms #1 and #2
are in a straight line
(Regardless of the Joint #1
direction.)
0 pulse position of Joint #3:
upper limit position in motion
range
The height of Joint #3 depends on
manipulator model.
0 pulse position of Joint #4:
position where the flat surface on the shaft (or
set screws of the mechanical stop on the
bottom) faces toward the tip of Arm #2
0 pulse
+
Standard model Cleranroom model
+
0 pulse
−
LS20-B Rev.4
+
0 pulse
−
−
Set screws
Flat surface