PreCise PF3400, Справочник по аппаратуре

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PreciseFlex_Robot
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3. Manually move the robot into the configuration shown below.
a. The top cover of the outer link will need to be removed by removing the 4 M3 X 20 SHCS
that are located in counter bores under the outer link.
b. If the optional Linear Axis is installed, move the Linear Axis carriage to the hard
stop near the connector end cap. For the Linear Axis calibration be sure to use
CALPP Rev 21 or later.
4. Ensure Z-axis is resting on the lower hard stop by releasing the Z axis brake by pushing on the
brake release button under the shoulder while supporting the robot arm with your hand, and
lowering the robot arm gently until it rests on the lower hard stop.
5. If the Calibration Pins have not already been removed from the robot, it may be necessary to
remove the top cover of the robot by removing 4 M5 Low Head screws with a 3.0mm hex driver
and then to remove the front cover to access the bag with the Calibration Pins which is inside the
front cover extrusion at the bottom.
6. Insert a M3 X 30mm Calibration Dowel Pin into the J4 (wrist) pulley with the gripper positioned
under the outer link and rotate the gripper back and forth until the pin drops into a slot in the outer
link, locating the gripper under the center of the outer link.
7. Insert a tapered .5in Calibration Dowel Pin into the hole in the bottom of the shoulder. Rotate the
inner link counterclockwise until it rests against this pin as shown below.
8. Insert an tapered .5in Calibration Dowel Pin into the hole on inner link as shown below. Rotate
outer link clockwise until it rests against the dowel pin.
9. If the robot is installed on a linear rail, push the rail carriage all the way to the hard stop at the
linear rail connector end cap.