Epson G6 series, Manipulator Manual, Page: 195 / 216

Maintenance 13. Calibration
G6 Rev.21 183
13. Calibration
13.1 About Calibration
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot execute the positioning properly because a mismatch exists between
the origin stored in each motor and its corresponding origin stored in the Controller.
After replacing the parts, it is necessary to match these origins.
The process of aligning the two origins is called “Calibration”. Note that calibration is
not the same as teaching*.
*: “Teaching” means to teach the Controller coordinate points (including poses) anywhere
in the operating area of the Manipulator.
WARNING
■
To ensure safety, a safeguard must be installed for the robot system.
For details on the safeguard, refer to EPSON RC+ User’s Guide: 2.4 Installation
and Design Precautions.
■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpectedly.
Command Input
Calibration procedures include the process to input commands. Select EPSON RC+
menu-[Tools]-[Command Window] to use the command window.
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the [Jog & Teach] page of the Robot
Manager. Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog &
Teach] tab to use the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedure.
When the calibration procedure is different for each type of software, see your software
type.
EPSON
RC+ 5.0
EPSON
RC+ 7.0