Epson C12 Series, Manipulator Manual

Page: 307 / 314

Maintenance 16. Calibration
C12 Rev.3 293
16.2 Calibration Procedure
Command Input
Command execution is required in some calibration procedures.
Select the EPSON RC+ menu-[Tools]-[Command Window].
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
Select 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
procedures.
Follow steps 1 to 6 to calibrate the Manipulator.
1. Basic Pose Confirmation
Pose data (Point data) prior to the part replacement (motors, reduction gear unit,
or belt) is necessary for the calibration.
Verify the recorded pulse values of the basic pose obtained in the Setup &
Operation 3.7 Checking the Basic orientation .
2. Part Replacement
Replace parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement.
3. Encoder Initialization
Turn ON the Controller while all joints are in the motion range.
The error message “Encoder alarm has occurred. Check robot battery. EPSON
RC+ must be restarted.” will be displayed.
Initialize the encoder at the current position and reset the error.
Initialize the encoder using one of the following procedures.
EPSON
RC+
Execute the following command at the [Monitor Window].
>Encreset [ The joint number (1 to 6) of the encoder to be reset ]
Select EPSON RC+ menu-[Tools]-[Controller], then click <Reset Controller>.