Epson VT Series, Manipulator Manual

Page: 260 / 274

19. Calibration
244 VT Rev.1
19.2 Calibration Procedures
Command Input
Command execution is required in some calibration procedures.
Select the EPSON RC+ menu-[Tools]-[Command Window].
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page.
The page above is indicated as [Jog & Teach] in the calibration procedures.
Follow steps 1 to 6 to calibrate the Manipulator.
1. Basic Orientation Confirmation
Calibration is performed with the basic orientation of the Manipulator.
For details about the basic orientation, refer to Setup & Operation 3.9 Checking the
Basic Orientation.
When the Manipulator cannot have the basic orientation, define the reference
orientation in advance, and record the point data. Also, put the “match marks” to
indicate the orientation.
The coordinate points including the Arm orientation are referred to as “points”, and
the data of the points are called “point data” in EPSON RC+.
2. Part Replacement
Replace the parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement
3. Encoder Initialization
Follow the procedures below to initialize the encoder.
EPSON
RC+
Execute the following command in the [Command Window].
>Encreset
[The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+ menu-[Tools]-[Controller], then click <Reset Controller>.