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(4) Remove the acrylic plate on the sensor
(5) Set the DIP switch corresponding to the joint that needs origin alignment to its ON
(6) Press and hold the reset switch for 1 or more seconds.
(7) Return the DIP switch(s) to the OFF position.
(8) Re-install the acrylic plate on the sensor
(9) SPEL CT
(10) Open the [Robot Control] window and click on the Motor <ON> button.
(11) Enter the current position that is visually determined as the 0 pulse position to
E2C Rev.6
0 pulse position of Joint #4:
position where the flat surface on the
shaft faces toward the tip of Arm #2
monitor on the base connector box.
position. For Joint #4, place both "3" and "4" in their ON positions.
Error will still be displayed. (SPEL CT: F-5136, EPSON RC+: 5136)
monitor.
: Reboot SPEL CT.
EPSON RC+ 4.* : Right-click the <SPEL Runtime Drivers system tray> icon, and
select [Restart SPEL Drivers].
EPSON RC+ 5.* : Select menu-[Tools]-[Controller], and click the [Restart
Controller] button.
Error [Absolute Encoder has been initialized] is displayed.
(SPEL CT: F-5136, EPSON RC+: 5136)
Click the <RESET> button. (The error is cleared.)
perform a rough calibration.
>CALPLS 0,0,0,0
Maintenance 14. Calibration
Sensor monitor
DIP switch
Reset switch
Sensor monitor
0 pulse
191
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