Maintenance 12. Calibration
190 S5 Rev.5
12.2 Calibration Procedure
Command Input
Calibration procedures include command execution.
Select the EPSON RC+ menu-[Tools]-[Command Window].
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the calibration procedures.
Select the EPSON RC+menu-[Tools]-[Robot Manager] and select the [Jog & Teach]
page.
The panel, window, and page above are indicated as [Jog & Teach] in the calibration
procedure.
1 to 7 described below in order to calibrate the origin.
Verify the recorded pulse values of the basic pose obtained in the
Setup & Operation
3.6 Setting the Basic Pose for Calibration
.
Replace parts as dictated by th
is manual.
Be careful not to injure yourself or damage
parts during part replacement.
Controller when all joints are in the motion range.
“Encoder alarm has occurred
. Check robot battery. EPSON RC+ must be
rest
arted.” is displayed.
Initialize the encoder at the current position
and reset the error.
using one of the following procedures.
Execute the following command at the [Monitor Window].
Encreset [The joint number (1 to 6) corresponding to the encoder will be reset]
elect the EPSON RC+ menu-[Tools]-[Maintenance]
, then click the [Restart
Controller] button.
After resetting the error, the motor encoder of the parts replaced joint is initialized.
Set the jog mode to
“Joint” from the
[Jog & Teach] and operate the Manipulator in jog
motion to match the home position of the joint accurately.
When the joint does not move to the home position, operate the Manipulator to match
the tram mark placed in
Setup & Operation 3.6 Setting the Basic Pose for Calibration
as accurate as possible.
Initialize the joint encoder when the joint matches the home position or the tram mark.
For the encoder initialization, refer to the procedure indicated above.
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