RS3 RS4 Maintenance 13. Calibration
106
RS series Maintenance Rev.3
90 deg. position of Joint #1:
position aligned with Y-axis in Robot coordinate
system
0 pulse position of Joint #2:
position where Arm #2 is inner side of Arm #1
(Regardless of the Joint #1 direction)
Arm #2
Arm #1
Base
0 pulse position of Joint #3:
upper limit position in motion range
The height of Joint #3 depends on manipulator model.
Standard model
Cleanroom model
Upper limit:
0 pulse
Turn the shaft flat surface to
the inner side of Arm
RS3-351S: 48.5 mm
RS4-551S: 45.5 mm
RS3-351C: 74.5 mm
RS4-551C: 73.5 mm
0 pulse position of Joint #4:
position where the flat surface (or
groove in mechanical stop) on the shaft
faces toward the inside of Arm #2
Groove
Flat surface
0 pulse
View from
this direction
