Epson C Series, Maintenance Manual, Page: 434 / 668

C8 Maintenance 16. Calibration
414 C Series Maintenance Manual Rev.2
After resetting the error, the motor encoder of the joint whose parts have been replaced
will be initialized.
Set the jog mode to “Joint” in [Jog & Teach] and operate the Manipulator in jog motion
to match the home position marks (0 pulse position) of the joint accurately.
When the joint cannot move to the home position, operate the Manipulator to match
the tram mark placed in
Setup & Operation 3.7 Checking the Basic Orientation as
accurate as possible.
Initialize the encoder when the joint matches the home position or the tram mark.
For the encoder initialization, refer to the procedure indicated above.
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position. (Due
to the structure of the Manipulator, any offset in the position of the Joint #5 affects the
Joint #6.)
Calibrate the origin of the Joint #6 together when calibrating the Joint #5.
4. Calibration
Calibration marks of each joint
(Figure: C8-A1401** (C8XL))
EPSON
RC+
4-1 Move the arm you want to calibrate to the position of the calibration mark.
Select menu-[Tool]-[Robot Manager]-[Jog & Teach] panel to move the Manipulator.
If an error occurs after replacing the motor and you cannot use the [Jog & Teach] panel
or “Brake OFF, *” does not work (* is an axis number to calibrate.), go through the
steps (4) and (5) now.
Then, [Jog & Teach] panel and “Brake OFF, *” will be available. Move the arm you
want to calibrate to the position of the calibration mark.

NOTE