Part 2: Maintenance
11. Calibration
183
Calibrating Joint #1, #2, and #4
Joint #1, #2 and #4 are all calibrated by the same method. Calibrating two or more joints
at the same time can affect accuracy. For best accuracy, calibrate each joint one at a time.
First, perform steps (1) to (10) in the
Common procedure for calibration
section.
(11) For each joint, select a current teach point that is easy to verify for accuracy, and move
the robot to that point using servo control. Because of the error due to origin offset,
the same position will not be obtained. Although the error is less than one revolution
of the motor, care should be taken to avoid interference with surrounding machinery.
One revolution of the Joint #1 motor:
±
4.5
°
One revolution of the Joint #2 motor:
±
7.2
°
One revolution of the Joint #4 motor:
±
22.5
°
We will use P1 in these steps. Move Joint #3 above this point using the JUMP
command.
<Example>
> JUMP P1:Z(0)
' Set Joint #3 high to prevent interference with
surrounding machinery.
(12) Display the number of pulses at this position using the PULSE command and note the
four values.
<Example>
> PULSE
PULSE 16000 pls 10000 pls 0 pls -10 pls
(13) Enter the numbers noted in step (12) using the CALPLS command.
<Example>
> CALPLS 16000,10000,0,-10
(14) Use the SFREE command to free the joint being calibrated and Joint #3.
<Example>
> SFREE 1,3
' Joints #1 and #3 can now be moved manually.
(15) Manually move the joint to be calibrated, and determine the proper original position.
When moving Joint #3, move while pushing the Joint #3 break release button.
(16) Execute the CALIB command for the joint to be calibrated.
<Example>
>
CALIB 1
' Joint #1 is calibrated.
RC+
Summary of Contents for EL Series
Page 1: ...ES EL series Rev 9 EM019R893F SCARA ROBOT MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL ES EL series Rev 9 ...
Page 12: ...x ...
Page 14: ...2 ...
Page 16: ...1 Manipulator Part Names Part 1 Setup Operation 4 ...
Page 30: ...4 User Wires and Pneumatic Tubes Part 1 Setup Operation 18 ...
Page 42: ...5 End Effectors Part 1 Setup Operation 30 ...
Page 44: ...6 Attaching a Camera Valve and Other Devices Part 1 Setup Operation 32 ...
Page 68: ...8 Motion Range and Robot Coordinates Part 1 Setup Operation 56 ...
Page 70: ...9 Emergency Stop Part 1 Setup Operation 58 ...
Page 80: ...11 Clean Model Part 1 Setup Operation 68 ...
Page 92: ...80 ...
Page 94: ...Maintenance Safety Precautions Part 2 Maintenance 82 ...
Page 104: ...2 Opening the Covers Part 2 Maintenance 92 ...
Page 112: ...3 Replacing the Cable Unit Part 2 Maintenance 100 ...
Page 138: ...5 Replacing the Motors Part 2 Maintenance 126 ...
Page 162: ...6 Replacing the Reduction Gear Units Part 2 Maintenance 150 ...
Page 186: ...9 Replacing the Ball Screw Spline Unit Part 2 Maintenance 174 ...
Page 210: ...11 Calibration Part 2 Maintenance 198 ...
Page 214: ...12 Clean Model Maintenance Part 2 Maintenance 202 ...
Page 224: ...13 Protected Model Maintenance Part 2 Maintenance 212 13 6 Wiring Schematic 2 ...
Page 236: ...14 Maintenance Part Lists Part 2 Maintenance 224 ...