Epson E2C Series, Руководство манипулятора

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Maintenance 14. Calibration
192 E2C Rev.6
(12) Select pose data (point data) that is easy to verify the accuracy of the joint that needs
origin alignment from the currently registered pose data (point data). And then
move the Manipulator to the approximate position and orientation.
(13) To perform temporary calibration, input the pulse value of the specified pose data
(point data).
When the specified pose data (point data) is “P1,” input the following command
according to the joint being calibrated.
> Calpls Ppls(P1,1), Ppls(P1,2), Ppls(P1,3), Ppls(P1,4)
(14) Perform the temporary calibration. Input one of the following commands according
to the joint being calibrated.
Joint #1 :
>Calib 1
Joint #2 :
>Calib 2
Joint #3 :
>Calib 3
Joint #4 :
>Calib 3, 4
(15) Put all joints back under servo control using the [Robot Control Panel].
(16) Move the joint* being calibrated to the specified pose (point) using a motion
command.
* You must also move Joint #1 and #2 to the position when calibrating Joint #4.
For example, when the specified pose data (point data) is “P1”, “Motor On” is
executed from [Robot Control Panel] ([Control Panel] for EPSON RC+ 5.* and
after), and “Go P1” is executed from [Jog & Teach].
(17) Accurately align the joint* being calibrated to the specified pose (point) using jog
commands.
* You must move Joint #3 and #4 to the position when calibrating Joint #4.
Select Joint jog mode from [Jog & Teach] to execute the jog motion.
(18) Perform the calibration. Input one of the following commands according to the
joint being calibrated.
Joint #1 :
>Calib 1
Joint #2 :
>Calib 2
Joint #3 :
>Calib 3
Joint #4 :
>Calib 3, 4
(19) Move the Manipulator to another pose (point) to confirm that it moves to the same
position.
If it does not move to the same position, re-calibrate using another pose (point).
You must set the pose (point) again if reproducibility cannot be assured through
calibration.