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C13UE001-1903
4.
Calibration
4.1
Zero-Position Setting
The calibration tools (HIWIN part No.: 4C201JM1) for setting Zero-position are
shown in Figure 4-1. The robot should be adjusted to the minimum speed during the
calibration, and aligns the pinhole with the calibration tool to set up the Zero-position. The
procedure of resetting Zero-position with the calibration tools is shown in Figure 4-2 to
Figure 4-7 below.
Calibration tool(A) Calibration tool(B)
Figure 4-1 The calibration tool set
J1-axis Zero-position setting
Step1.
Operate J1 at low speed to align the pinhole of J2 with the pinhole of J1.
Step2.
Insert the calibration tool(A) to the pinhole to calibrate Zero-position.
Step3.
Finish calibration and remove the calibration tool(A).
Step4.
Clear encoder by HRSS. (Refer to page 53)
Step5.
Zero-position setting of J1 axis is completed.
Figure 4-2 Illustration of J1-axis Zero- position setting
Calibration tool(A)
Pinhol
e
