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C23UE004-2109
4.
Calibration
4.1
Zero-Position Setting
The calibration tools (HIWIN part No.: RA610Z231-3) 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 (please refer to the Figure 4-2)
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.
Step5.
Zero-position setting of J1 axis is completed.
Figure 4-2 Illustration of J1-axis Zero- position setting
Calibration tool(A)
Pinhole
Summary of Contents for RA610-GC
Page 1: ...www hiwin tw User Manual Articulated Robot RA610 GC Original Instruction ...
Page 42: ...40 C23UE004 2109 Figure 2 3 b RA610 1355 GC Outer dimension and motion range ...
Page 43: ...41 C23UE004 2109 Figure 2 3 c RA610 1476 GC Outer dimension and motion range ...
Page 44: ...42 C23UE004 2109 Figure 2 3 d RA610 1672 GC Outer dimension and motion range ...
Page 45: ...43 C23UE004 2109 Figure 2 3 e RA610 1869 GC Outer dimension and motion range ...
Page 47: ...45 C23UE004 2109 Figure 2 4 b RA610 1476 GC Wrist moment diagram ...
Page 48: ...46 C23UE004 2109 Figure 2 4 c RA610 1672 GC Wrist moment diagram ...
Page 49: ...47 C23UE004 2109 Figure 2 4 d RA610 1869 GC Wrist moment diagram ...
Page 50: ...48 C23UE004 2109 Figure 2 4 e RA610 1151 GC Wrist moment diagram mm mm ...
Page 65: ...63 C23UE004 2109 Figure 4 8 Clear encoder by HRSS ...
Page 73: ...71 C23UE004 2109 Table 6 3 Inspection schedule ...
