Epson E2C Series, Руководство манипулятора

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Maintenance 14. Calibration
190 E2C Rev.6
14.2 Calibration Procedure
The same calibration procedure is used for each joint. Follow the steps below to calibrate
each joint. When calibrating Joint #4, you must calibrate Joint #3 and #4 at the same
time. You cannot calibrate Joint #4 alone because of the structure of the Manipulator.
(1) Turn ON the Controller with all joints in motion range.
(2) Check whether an error occurs or not.
Immediately after a new motor is connected, the following error status may occur for
the super-capacitor (condenser) in the motor encoder if it was not charged enough.
SPEL : Error F-5016
[Absolute Encoder backup alarm] occurs
EPSON RC+ : “Encoder alarm has occurred. Check robot battery. EPSON RC+
must be restarted.” is displayed
In this case, leave the power ON for 3 or more minutes to sufficiently charge the
capacitor. Then, go to the next step (3) below. (The error is still displayed.)
If the error does not occur, go to the next step (3) below.
(3) Manually move the joint that needs origin alignment to its approximate 0 pulse
position.
0 pulse position of Joint #1:
position aligned with X-axis in
Manipulator coordinate system
0 pulse
0 pulse position of Joint #2:
position where Arms #1 and #2 are in
a straight line
(Regardless of the Joint #1 direction)
0 pulse
0 pulse position of Joint #3:
upper limit position in motion range
Upper limit:
0 pulse