Mcal Order] - Epson RC700 Manual

3. Software
J1 through J6 represent Joint #1 through Joint #6 respectively and, they are moved to the
user-defined home position in the order as specified by Step 1 through Step 4. In the
illustrated example, the Joint #2 will be moved to the user-defined home position after
Joint #1 is calibrated and moved to the waiting position.

3.3.4 [Mcal Order]

Specify this parameter so that MCAL is completed within 120 seconds.
NOTE
If the calibration of each joint is not completed within 120 seconds during MCAL
execution, then error 4083, MCAL did not complete in time, will occur.
When MCAL (calibration to the home position) is executed, each joint will be calibrated
to the mechanical home position in the order as specified by the MCORDR command.
The values to be entered here specify the default values for MCORDR.
Click the <Default> button if you want to load the default values set in the section 3.2.3
PG parameter Joint.
J1 through J6 represent Joint #1 through Joint #6 respectively and they will be calibrated
in the order as specified by Step 1 through Step 4. In the illustrated example, the Joint
#2 will be calibrated to the origin position after Joint #1 is calibrated and moved to the
origin position.
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RC700 / RC90 option PG motion system Rev.2