Table of Contents
Advertisement
C4 Maintenance 16. Calibration
NOTE
4. Calibration
Position of grooves for calibration
For Joint #4
166
After resetting the error, the motor encoder of the joint whose parts have been replaced
will be initialized.
Set the jog mode to "Joint" in [Jog & Teach] and operate the Manipulator in jog motion
to match the home position marks (0 pulse position) of the joint accurately.
When the joint cannot move to the home position, operate the Manipulator to match the
tram mark placed in Setup & Operation 3.7 Checking the Basic Orientation as accurate
as possible.
Initialize the encoder when the joint matches the home position or the tram mark.
For the encoder initialization, refer to the procedure indicated above.
When the origin of the Joint #5 is calibrated, the Joint #6 will be out of position. (Due
to the structure of the Manipulator, any offset in the position of the Joint #5 affects the
Joint #6.)
Calibrate the origin of the Joint #6 together when calibrating the Joint #5.
For Joint #5
For Joint #6
4-1 Prepare the calibration key.
A calibration key is secured inside the Arm #1 center cover using the M4 screw. Be
careful not to lose the screw.
Position of the calibration key
For Joint #3
The key is secured to the inside of the
For Joint #2
Arm #1 center cover using M4 screw.
Hexagon socket head cap bolts:
For Joint #1
Be sure to put the key back to the
original position after use.
C Series Maintenance Manual Rev.2
M3×6
Advertisement
Table of Contents
