Maintenance 12. Calibration
190
S5 Rev.5
12.2 Calibration Procedure
Command Input
Calibration procedures include command execution.
Select the EPSON RC+ menu-[Tools]-[Command Window].
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the calibration procedures.
Select the 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
procedure.
Follow steps 1 to 7 described below in order to calibrate the origin.
1. Basic Pose Confirmation
Verify the recorded pulse values of the basic pose obtained in the
Setup & Operation
3.6 Setting the Basic Pose for Calibration
.
2. Part Replacement
Replace parts as dictated by this manual. Be careful not to injure yourself or damage
parts during part replacement.
3. Encoder Initialization
Turn ON the Controller when all joints are in the motion range.
The message “Encoder alarm has occurred. Check robot battery. EPSON RC+ must be
restarted.” is displayed.
Initialize the encoder at the current position and reset the error.
Initialize the encoder using one of the following procedures.
Execute the following command at the [Monitor Window].
>Encreset
[The joint number (1 to 6) corresponding to the encoder will be reset]
Select the EPSON RC+ menu-[Tools]-[Maintenance], then click the [Restart
Controller] button.
After resetting the error, the motor encoder of the parts replaced joint is initialized.
Set the jog mode to “Joint” from the [Jog & Teach] and operate the Manipulator in jog
motion to match the home position of the joint accurately.
When the joint does not move to the home position, operate the Manipulator to match
the tram mark placed in
Setup & Operation 3.6 Setting the Basic Pose for Calibration
as accurate as possible.
Initialize the joint encoder when the joint matches the home position or the tram mark.
For the encoder initialization, refer to the procedure indicated above.
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 ...
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Page 84: ...Setup Operation 5 Motion Range 70 S5 Rev 5 ...
Page 86: ...S5 Rev 5 72 ...