Epson C12 Series Manipulator Manual page 305

Also, pay attention to the following points at the encoder initialization.
■ The Joint #1 and Joint #4 have no mechanical stops and they may be rotated
more than 360 degrees. If the encoder initialization is performed with improper
posture, the Manipulator moves outside the operation range. If the Manipulator
was moved outside the operation range, the internal wiring may be damaged by
CAUTION
being twisted or pinched and it may result in Manipulator malfunction.
NOTE

When the home positions of the Joints #1 and #4 are uncertain, check torsion of the internal
cables. The home positions are where the Manipulator has the internal cables not twisted
at the basic orientation described in Setup & Operation 3.7 Checking the Basic orientation.
Torsion of the internal cables can be checked by removing the following covers.
Joint #1 : Base cover (Cable backward model)
Joint #4 : Arm #3 cover (common between cable downward and cable backward models)
C12 Rev.3
: Connecter plate (Cable downward model)
Connecter plate
(Cable downward model)
Arm #3 cover
(common between cable downward
and cable backward models)
Base cover
(Cable backward model)
Maintenance 16. Calibration
291