Mechanical Operations and Maintenance Manual for Industrial Robot ER12-4-2000
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Fig. 4-2 Maintenance and Use Areas
4.6
Home Position Calibration
Home position calibration refers to an operation performed to associate the angle of each robot
axis with the encoder count value. The purpose of the home position calibration operation is to
obtain the encoder count value corresponding to the home position.
"Home position calibration" is done before leaving the factory. In daily operations, there is
generally no need to perform home position calibration operations. However, in the following
cases, it is necessary to perform the home position calibration operation.
1
）
If the servo motor is replaced.
2
）
If the encoder is replaced.
3
）
If the decelerator is replaced.
4
）
If the cable is replaced.
4.6.1 Home Position Calibration Method
Home position calibration is a relatively complicated process. According to the current actual
situation and objective conditions, the following describes the tools and methods of home
calibration, as well as some common problems and methods to solve these problems.
Software Home Position Calibration
The laser tracker needs to be used to establish the coordinate system of each joint of the robot,
and the system encoder's reading is set to zero. The software calibration is more complicated and
needs to be operated by professionals of our company.
Mechanical Home Position Calibration (Line Calibration)
Rotate the marking line of the home block to the fully aligned state, that is, the home
position.
Summary of Contents for ER12-4-2000
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