Epson RS Series, Руководство по обслуживанию

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RS3 RS4 Maintenance 13. Calibration
RS series Maintenance Rev.3 103
13.3 Accurate Calibration of Joint #2
When coordinates for the Manipulator working point require calculation, it is important for
Joint #2 to be calibrated accurately.
IF the calibration of Joint #2 is performed in
13.2 Calibration Procedure , configure
“Calibration Using Right / Left Arm Orientations” by the wizard.
The reference point is the center of the ball screw
spline shaft during this calibration.
When there is a misalignment between the center
of the end effector and the center of the ball screw
spline shaft, remove the end effector and perform
the calibration of the shaft.
The center of the shaft
There is a misalignment
between the center of
the end effector and the
center of the shaft.
Make a calibration jig as shown in the right figure
and attach it on the end of the shaft to make the
center of the shaft clear.
Decide a target point and mark a cross (
× ) on it
so that you can easily verify the center of the
shaft after switching the arm pose between right
and left.
Calibration jig at the
end of the shaft
(Example)
Target point
The center
of the shaft
After removing the end effector and performing the calibration, install the end effector and
move the Manipulator to the teaching point to verify whether there is a positional gap. If
there is a positional gap, fine-tune the installation position of the end effector and teach the
point again.
Coordinates for the working point requires calculation in the following cases:
· Teaching the working point by entering the coordinate values (MDI teaching)
· Switching the arm orientation between right and left at a given point
· Using the Pallet command
· Executing CP control (such as liner or circular interpolation)
· Using the Local command
· Pose data specified with relative coordinates <Example: P1+X(100) >
· Vision Guide camera calibrations

NOTE