Epson ProSix S5 Series, Manual

Page: 56 / 211

Setup & Operation 3. Environment and Installation
42
S5 Rev.5
3.6 Setting the Basic Pose for Calibration
After certain parts have been replaced (motors, reduction gear unit, belts, etc.), a mismatch
exists between the origin stored in each motor and its corresponding origin stored in the
Controller. It is necessary to match these origins after replacing the parts. The process
of aligning the two origins is called “Calibration”.
Before performing the calibration, a specific point must be set as “reference point”, and
also the pose data (point data) on the reference point (hereinafter referred to as the “basic
pose”) must be recorded. This must be carried out as soon as the robot system is installed.
Follow the procedure below to record pulses of the basic pose.
For EPSON RC+, a coordinate point including the arm pose is defined as “point”. The
data is called “point data”.
How to set the reference points for calibration
(1) Decide the reference points.
The reference points should be two or more around the points (poses) where your
Manipulator moves frequently. Also, Arms #2, #3, and #5 should not form a straight
line at these reference points (the Manipulator should not stretch completely). Be
sure that the Manipulator moves to the reference points without problems.
(2) Attach the calibration jigs to the reference points.
Attach your end effector or the calibration jigs described in the section Maintenance
12.3 Calibration Jig to the Manipulator.
(3) Move the Manipulator to the reference points and set the basic pose as the point data.
Refer to the following manual for how to move the Manipulator.
EPSON RC+ 5.0 / EPSON RC+ 6.0
: EPSON RC+ User’s Guide -
5.11.1 Robot Manager Command Tools: Robot Manager:
Jog and Teach Page
(4) Place tram marks on the Manipulator so that you can reproduce each joint position to
create the set basic pose.
You should place tram marks on the Manipulator if the Manipulator cannot move to
the 0 pulse positions.