Epson LS20 Series User Manual

Maintenance 13. Calibration
146 LS20 Rev.4
13.2 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 follow 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
Maintenance: 13.3 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.
Check the robot internal wiring) occurs, apply the procedure of 13.4 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.

NOTE

Epson LS20 Series Specifications

General

Brand	Epson
Model	LS20 Series
Category	Robotics
Language	English