Epson G Series Maintenance Manual page 111

G series Maintenance Rev.3
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
(or screw hole 1) on the shaft
faces toward the tip of Arm #2
Screw hole 2
(3)-3 Connect EPSON RC+ to the Controller.
Select the robot to be calibrated. Input as below in the [Command
Window] and execute.
(This example uses "robot 1".)
> robot 1
Standard model
Screw hole 1 and flat surface are located
Screw hole 1
in the center of the shaft.
Flat surface
Screw hole 1 and 2 are located at right
angles to one another.
G1 Maintenance 13. Calibration
0 pulse
Cleanroom model
0 pulse
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