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3.4Encoder reset and encoder correction
3.4.2
Encoder Correction procedure
1
Upon completion of the encoder resetting, proceed with the encoder correction.
Press f9 <Encoder Correct>.
>> The screen which appeared immediately after [3 Machine Constants] [4 Encoder
Correction] were selected is restored.
2
Either "Data Input" or "Position Record" can be used as the method for encoder
correction.
Correction
method
Details
Position
Record
In this screen, the mechanical position is regarded as a reference
position for the axis when [Enter] and [REC] keys are pressed and
then the encoder correction value is calculated and set.
Select this method at a production process or when a motor or
mechanism is to be replaced. Be absolutely sure to perform the
operations with the robot placed in a posture where the all axes are
aligned to the "reference position".
The correction value is input by pressing
[Enter] followed by [REC]. (These values are
input for each axis.)
Encoder value (in hexadecimal
notation) after correction
Angle (deg.) of each axis
Data Input
Use this method when the encoder correction values are already
known.
An "encoder correction value which is already known" is a
post-mastering encoder correction value which is provided inside
the controller when the robot is shipped from the factory.
Therefore, cases where this screen is used to set the values after
shipment are as follows;
• When the encoder battery has been replaced
• After the controller's memory has been formatted
When these values are input, it is acceptable for the robot to be in
any position and any posture.
The encoder correction value is
input (in decimal notation) here.
Encoder value (in decimal
notation) after correction
Angle (deg.) of each axis
Содержание EZ-CFDL Series
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