Calibration Procedure - Epson G Series Maintenance Manual

14.2 Calibration Procedure

EPSON RC+ has a wizard for calibration.
This section indicates the calibration using the calibration wizard of EPSON RC+.
The same calibration procedure is used for each joint.
The steps below are calibration using Joint #1. Follow the steps below to calibrate other
joints.
When coordinates for the Manipulator working point require calculation, it is important for
Joint #2 to be calibrated accurately. Execute the procedure in "Calibration Using Right /
Left Arm Orientations" to accurately calibrate Joint #2. For details, refer to 14.3 Accurate
Calibration of Joint #2.
When calibrating Joint #4, you must calibrate Joint #3 and #4 at the same time. You cannot
calibrate Joint #4 alone because of the structure of the Manipulator.
If Err9716 or 5016 (Power supply failure of the absolute encoder. Replace the battery.
NOTE

Check the robot internal wiring) occurs, apply the procedure of 14.4 Calibration Procedure
without using Calibration Wizard - 3. Encoder Initialization and then, start the calibration
wizard.
The reference point (a point to check the accuracy) needs to be specified for calibration.
(1) Start the calibration wizard.
NOTE

iii. Select the joint and click the <Calibrate...> button.
G series Maintenance Rev.3
i. Select EPSON RC+ menu-[Setup]-[System Configuration].
ii. Select the [Robot]-[Robot**]-[Calibration].
Only selected robot can be calibrated.
G3 Maintenance 14. Calibration
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