Scara Mechanical Unit Manual
Document Version: V1.1(
Error!
Unknown document property name.
)
© 2021
Error! Unknown document property name.
All right
reserved.
42
6.
Calibration and battery
6.1.
Introduction
Calibration associates the angle of each robot axis with the pulse count value supplied from the absolute
Pulse coder connected to the corresponding axis motor. To be specific, calibration is an operation for
obtaining the pulse count value, corresponding to the home position.
Calibration is factory-performed. It is unnecessary to perform calibration in daily operation. However,
calibration becomes necessary after:
Motor replacement
Pulse coder replacement
Reducer replacement
Cable replacement
Batteries for pulse count backup in the mechanical unit have gone dead
CAUTION
The data, including home position and the pulse encoder, are stored in
memory powered by the batteries. The data may get lost when the batteries
run out. It is necessary to replace the batteries of control device and robot
periodically. The system can display an alarm message on the screen when the
batteries are low.
6.2.
Finding calibration position
Calibrating is performed at the factory with no loads on the robot system, based on the robot
parameters and the special tools and software. This calibration method is the most precise one. Every
robot is provided with its calibration values.
The data of home position may be lost due to electrical or software problems. The stored zero position
can be regarded as the reference when you perform calibration by teaching method.
The process consists of place robot in specific position by hand, allowing encoders to be at +-0.5 turn. At
that position, the system can calculate the offset position if manufacture calibration values are set into
the configuration software.
Procedure to calibrate the home position of J1, J2, J3 and J4 axis for RX3/RX6 Robot consists of 3 main
steps:
1.
Battery replacement
2.
Calibration values reset
3.
SCARA definition
