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2.5 Matching Origins
After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
screw spline unit, etc.), the Manipulator cannot operate 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 method of calibration is different depending on the software used.
Maintenance: 14. Calibration and follow the steps that pertain to the software you are
using.
For the calibration, the pulse values for a specific position must be recorded in advance.
Before replacing the parts, select easy point (pose) data from the registered point data to
check the accuracy. Then, follow the steps below to display the pulse values and record
them.
Click the <Debug Pane> button and execute the following command from the [Command
SPEL CT
Execution] window.
WHERE
pulse 1: [Joint #1 Pulse value] 2: [Joint #2 Pulse value] 3: [Joint #3 Pulse value] 4:
[Joint #4 Pulse value]
Execute the following command.
EPSON
RC+
[Monitor Window]
[Command Window] EPSON RC+ 5.0 or later（RC170）
>PULSE
PULSE: [5Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value]
pls [Joint #4 Pulse value] pls
E2C Rev.6
Maintenance 2. General Maintenance
EPSON RC+ 4.* or before（RC520/RC420）
Refer to
77
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