Epson E2C Series Manipulator Manual page 206

Maintenance 14. Calibration
Coordinates for the working point requires calculation in the following cases:
Calibration Using Right / Left Arm Orientations
(1) Select a pose (point) for which it is easy to verify the accuracy from the data in the
(2) Switch the arm orientation to left. Then, move the arm to the same point.
(3) The joints are slightly out of position. Adjust the gap with the jog motion in the
(4) Input the new Hofs value.
(5) Move the Manipulator to another pose (point). Make sure that the Manipulator
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· Teaching the working point by entering the coordinate values (MDI teaching)
· Switching the arm orientation between right and left at a given point
· Using the PALET command (SPEL CT), or PALLET command (EPSON RC+)
· Executing CP control (such as liner or circular interpolation)
· Using the LOCAL command
· Pose data specified with relative coordinates <Example: P1+X(100) >
· Vision Guide camera calibrations
· Conveyor tracking
accessible area for both right and left arm orientations. And then teach the pose
(point) in the right arm orientation. This pose (point) is now called P1.
Specify the point number "1" in the [Jog & Teach] and click the <Teach> button.
>JUMP P1:Z(0)/L
[Jog & Teach]. This pose (point) is now called P2.
> Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
moves to the correct position.
Change the arm orientation from right to left
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E2C Rev.6