Calibration; About Calibration - Epson E2C Series Manipulator Manual

14. Calibration

14.1 About Calibration

After parts have been replaced (motors, reduction gear units, timing belts, etc.), the
Manipulator cannot execute the positioning properly because a mismatch exists between
the origin stored in each motor and its corresponding origin stored in the Controller.
After replacing the parts, it is necessary to match these origins.
The process of aligning the two origins is called "Calibration". Note that calibration is
not the same as teaching*.
*: "Teaching" means to teach the Controller coordinate points (including poses) anywhere
in the operating area of the Manipulator.
■ To ensure safety, a safeguard must be installed for the robot system.
For details on the safeguard, refer to the Installation and Design Precautions in
the Safety chapter of the EPSON RC+ User's Guide or the Safety 1.3 Design
Precautions in the SPEL CT User's Guide.
■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
WARNING
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpectedly.
Command Input
Calibration procedures include the process to input commands.
windows and startup procedures are different depending on the software users use.
The information above is omitted in the calibration procedure.
Jog Motion
The process to set the jog motion is included in the calibration procedures. The name of
the windows and startup procedures are different depending on the software users use.
The panel, window, or page above are indicated as [Jog & Teach] in the calibration
procedure.
E2C Rev.6
SPEL CT : Click the tool bar-<Debug pane> button to display the [Command
Execution] window.
EPSON RC+ 4.* : Select the menu-[Tools]-[Monitor] to display the [Monitor]
window.
EPSON RC+ 5.* : Select the menu-[Tools]-[Command Window].
SPEL CT : Select menu-[Jog & Teach] to display the [Jog & Teach] panel.
EPSON RC+ 4.* : Select [Tools]-[Jog & Teach] to display the [Jog & Teach] window.
EPSON RC+ 5.* : Select menu-[Tools]-[Robot Manager] and select the [Jog &
Teach] page.
Maintenance 14. Calibration
The name of the
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