Epson RS Series, Руководство по обслуживанию

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RS3 RS4 Maintenance 13. Calibration
RS series Maintenance Rev.3 107
(3)-3 Connect EPSON RC+ to the Controller.
Select a robot to be calibrated. Input as below in the [Command Window]
and execute it.
(This example uses “robot 1”.)
> robot 1
(3)-4 Execute the absolute encoder initialization command.
Input one of the following commands to [Command Window] according to the joint
being calibrated.
Joint #1:
>EncReset 1
Joint #2:
>EncReset 2
Joint #3:
>EncReset 3
Joint #4:
>EncReset 3, 4
(3)-5 Reboot the Controller.
Select EPSON RC+ menu-[Tools]-[Controller] and click the <Reset Controller>
button.
* This window will be disappeared when the Controller starts up.
4. Rough Calibration
(4)-1 Execute the following command from the menu-[Tools]-[Command Window].
>calpls 0,0,0,0
* Manipulator does not move.
(4)-2 Execute one of the following commands according to the joint you want to calibrate
from the menu-[Tools]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 3, 4
5. Calibration (Accurate Positioning)
(5)-1 Turn ON the motors from the EPSON RC+ menu -[Tools]
-[Robot Manager]-[Control Panel].
(5)-2 Click the <Free All> button in the [Control Panel] to free all joints. Now, you can
move arms by hands.
(5)-3 Move the Manipulator by hand to a rough position/posture of the calibration point
data.