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11. Calibration
11.1 Calibration for EPSON RC+ Controller
NOTE
Common procedure for calibration
RC+
180
Refer to the EPSON RC+ on-line help for details of commands used in this section.
During the following steps, you may have to open the safeguard to gain access to the
manipulator, depending on the system setup. With the safeguard open, the manipulator
motors will turn OFF unless attend mode is ON. When executing Monitor Window
commands, attend mode must be OFF.
For both the ES and EL series manipulators, calibration steps (1) to (10) are the same for all
four joints.
(1) Turn ON the power of the RC520 Drive Unit and RC520 PC Control Unit after
moving all joints to within motion range. Check if an error occurs. If an error does
not occur, proceed to next step.
Error F-5001 occurs when the capacitor in the motor encoder is insufficiently charged
because, for example, the motor is new. To change the capacitor, leave the power ON
for 3 or more minutes.
(2) Manually move joints to be calibrated into approximately the 0 pulse position.
Joint #1 : 0 pulse position : aligned with X-axis in robot coordinate system
Joint #2 : 0 pulse position : parallel with Arm #1 (i.e., straight) regardless of Joint
Joint #3 : 0 pulse position : uppermost position in working area.
Joint #4 : 0 pulse position : flat surface on the shaft facing in the top of Arm #2
(See figure below).
#1 direction.
direction.
(Rear)
Part 2: Maintenance
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