Maintenance 12. Calibration
188
S5 Rev.5
12. Calibration
12.1 Overview
After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot perform positioning properly because a mismatch exists between the
origin stored in each motor encoder and its corresponding origin stored in the Controller.
After replacing the parts, it is necessary to match (correct) these origins.
The process of aligning the two origins is called “Calibration”. The 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 the
Installation and Design Precautions
in
the
Safety
chapter of the EPSON RC+ User’s Guide.
■ 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.
For EPSON RC+, a coordinate point including the arm pose is defined as “point”. The
data is called “point data”.
There are two methods to move the Manipulator during calibration.
-
Releasing the electromagnetic brake and moving the arms manually
For details, refer to the
Setup & Operation 1.5 How to Move Arms the Electromagnetic
Brake is Applied to
.
-
Moving the Manipulator in the Jog & Teach mode.
For details, refer to
EPSON RC+ 5.0 User’s Guide - 5.11.1 Robot Manager Command
Tools: Robot Manager: Jog and Teach Page
.
Normally move the Manipulator in the Jog & Teach mode since moving the Manipulator
while releasing the electromagnetic brake involves risk.
CAUTION
■
Normally, release the brake of a single joint at a time. Take extra care to release
the brakes of two or more joints simultaneously from necessity. Releasing the
brakes of two or more joints simultaneously may cause hands and fingers to be
caught, serious bodily injury and/or severe equipment damage to the Manipulator
as the arms of the Manipulator may move in unexpected directions.
■
Be careful of the arm falling when releasing the brake.
While the brake release switch is pressed, the Manipulator’s arm falls by its own
weight. The arm falling may cause hands and fingers to be caught and/or may
cause equipment damage to or malfunction of the Manipulator.
Summary of Contents for ProSix S5 Series
Page 1: ...Rev 5 EM133R2483F EPSON ProSix S5 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual S5 series Rev 5 ...
Page 10: ...viii S5 Rev 5 ...
Page 16: ......
Page 84: ...Setup Operation 5 Motion Range 70 S5 Rev 5 ...
Page 86: ...S5 Rev 5 72 ...
