Epson EL Series, Manipulator Manual

Page: 207 / 236

Part 2: Maintenance 11. Calibration
195
Calibrating Axes #1, #2, and #4
Axes #1, #2, and #4 are all calibrated by the same method. Calibrating two or more Axes
at the same time can affect accuracy. For best accuracy, calibrate each axis one at a time.
First, perform steps (1) to (10) in the Common procedure for calibration section.
(11) For each axis, select a current teach point that is easy to verify for accuracy, and move
to that point. 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 motors, care should be
taken to avoid interference with surrounding machinery.
One revolution of Axis #1 motor:
±
4.5
°
One revolution of Axis #2 motor:
±
7.2
°
One revolution of Axis #4 motor:
±
22.5
°
We will use P1 in these steps. Move Axis #3 above this point using the JUMP
command.
<Example>
> JUMP P1:Z0
' Set Axis #3 high (Z0) to prevent interference
with surrounding machinery.
(12) Display the number of pulses in this position using the PULSE command and note the
four values.
<Example>
>
PULSE
16000 10000
' Axes #1 and #2 pulses.
0 -10
' Axes #3 and #4 pulses.
(13) Enter the numbers which were noted in step (12) using the CALPLS command.
<Example>
>
CALPLS 16000,10000,0,-10
(14) Use the SFREE command to free the axis being calibrated and Axis #3.
<Example>
> SFREE 1,3
' Axes #1 and #3 can now be moved manually.
(15) Manually move the axis to be calibrated, and determine the proper original position.
When moving Axis #3, move while pushing the brake release button for Axis #3.
(16) Execute the CALIB command for the axis to be calibrated.
<Example>
>
CALIB 1
' Axis #1 is calibrated.
300