Epson C12 Series Manipulator Manual page 309

EPSON
RC+
EPSON
RC+
EPSON
RC+
EPSON
RC+
C12 Rev.3
4-2 Reset the encoder.
Execute one of the following commands to reset the encoder of the joint you
want to calibrate from the menu-[Tool]-[Command Window].
Joint #1 >Encreset 1
Joint #2 >Encreset 2
Joint #3 >Encreset 3
Joint #4 >Encreset 4
Joint #5 >Encreset 5, 6
Joint #6 >Encreset 6
4-3 Reboot the Controller.
Click EPSON RC+ menu-[Tool]-[Controller]-<Reset Controller>.
4-4 Input the command in the Command window and execute it.
Execute one of the following commands to reset the encoder of the joint you
want to calibrate from the menu-[Tool]-[Command Window].
>calpls 0,0,0,0,0,0
* Manipulator does not move.
4-5 Perform the calibration.
Execute one of the following commands to reset the encoder of the joint you
want to calibrate from the menu-[Tool]-[Command Window].
Joint #1 >calib 1
Joint #2 >calib 2
Joint #3 >calib 3
Joint #4 >calib 4
Joint #5 >calib 5,6
Joint #6 >calib 6
Move the arm to several points to check if the arm moves to the original
positions properly.
Teach points if fine adjustment is necessary.
Maintenance 16. Calibration
295