Epson G Series Maintenance Manual page 495

G series Maintenance Rev.3
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
(or screw hole 1) on the shaft
faces toward the tip of Arm #2
Screw hole 2
G10 G20 Maintenance 14. Calibration
Standard model
Screw hole 1 and flat surface are located
in the center of the shaft.
Screw hole 1
Screw hole 1 and 2 are located at right
Flat surface
angles to one another.
0 pulse
0 pulse
Cleanroom model /
Protected model
with bellows option
0 pulse
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