Epson LS series, Руководство манипулятора

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Maintenance 2. General Maintenance
72 LS Rev.10
2.5 Matching Origins
After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch
exists between the origin stored in each motor and its corresponding origin stored in the
Controller. After replacing the parts, it is necessary to match these origins.
For calibration, the pulse values for a specific position must be recorded in advance.
Before replacing parts, select easy point (pose) data from the registered point data to check
the accuracy. Then, follow the steps below to display the pulse values and record them.
Execute the following command from the [Command Window].
>PULSE
PULSE:
[Joint #1 Pulse value]
pls
[Joint #2 Pulse value]
pls
[Joint #3 Pulse value]
pls [Joint #4 Pulse value] pls
EPSON
RC+