Epson RS Series, Руководство по обслуживанию

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RS3 RS4 Maintenance 13. Calibration
94 RS series Maintenance Rev.3
13.2 Calibration Procedure
EPSON RC+ has a wizard for calibration.
This section indicates the calibration using the calibration wizard of EPSON RC+.
The same calibration procedure is used for each joint.
The follow the steps below are calibration using Joint #1. Follow the steps below to
calibrate other joints.
When coordinates for the Manipulator working point require calculation, it is important for
Joint #2 to be calibrated accurately. Execute the procedure in “Calibration Using Right /
Left Arm Orientations” to accurately calibrate Joint #2. For details, refer to 13.3 Accurate
Calibration of Joint #2 .
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.
The reference point (a point to identify the position of the manipulator) needs to be specified
for calibration.
(1)
Start the calibration wizard.
i. Select EPSON RC+ menu-[Setup]-[System Configuration].
ii. Select the [Robot]-[Robot**]-[Calibration].
Only selected robot can be calibrated.
iii. Select the joint and click the <Calibrate…> button.
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