Epson RS Series, Руководство по обслуживанию

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RS3 RS4 Maintenance 13. Calibration
104 RS series Maintenance Rev.3
Calibration Using Right / Left Arm Orientations
(1) Check the point data for calibration
Use a pose (point) you can easily verify the accuracy within the work envelop of
both right and left arm. Then, check the number of pose (point) you want to use.
(2) Open [Tools menu]-[Robot Manager]-[Control Panel] and turn ON the motor.
(3) Click the <Free All> button in the [Control Panel] to free all joints. Now, you can
move arms by hands.
(4) Move the arms to the position of point data for calibration in rightly arm orientation.
(5) From the current position, teach any point data number unused.
This point is now called P1.
Specify the point number “1” and click the <Teach> button in the [Jog & Teach].
(6) Click the <Lock All> button in the [Control Panel] to lock all joints.
(7) Switch to the lefty arm orientation. Then, move the arm to the same point.
>Jump P1/L:Z(0) ' Change the arm orientation from righty to lefty
Z is the maximum position
* If there is interference on the way from right to lefty, click the <Free All> button in
the [Control Panel] and change the arm orientation to lefty by hands. Then, go to
the step (6), (7).
(8) The joints are slightly out of position.
Adjust the gap with the
−
Z in the Jogging group in the [Jog & Teach]. Then, teach
another point data number unused. This point is now called P2.
Specify point number “P2” and click the <Teach> button in [Jog & Teach].
(9) Input the new Hofs value.
> Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
(10) From the current lefty arm orientation (the position in the step (8)), teach the point data
number used in the step (8). This point is called P2.
Specify point number “P2” and click the <Teach> button in [Jog & Teach].
(11) Switch to the righty arm orientation. Then, make sure the manipulator move to the
correct position.
>Jump P2/R ' Change the arm orientation from lefty to righty
* If there is any interference on the way from lefty to righty, click the <Free All> button
in the [Control Panel] and change the arm orientation to righty by hands. Then, go
to the step (6), (11).
(12) Move the manipulator to other point data and make sure it moves to the correct position.
Teach some more points if required.
* Delete the two points taught for the Joint #2 calibration.