Epson C Series Maintenance Manual page 434

6-axis robots

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C8 Maintenance 16. Calibration

Calibration marks of each joint

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

Calibrate the origin of the Joint #6 together when calibrating the Joint #5.

4-1 Move the arm you want to calibrate to the position of the calibration mark.

Select menu-[Tool]-[Robot Manager]-[Jog & Teach] panel to move the Manipulator.

If an error occurs after replacing the motor and you cannot use the [Jog & Teach] panel

or "Brake OFF, *" does not work (* is an axis number to calibrate.), go through the

steps (4) and (5) now.

Then, [Jog & Teach] panel and "Brake OFF, *" will be available. Move the arm you

want to calibrate to the position of the calibration mark.

(Figure: C8-A1401** (C8XL))

C Series Maintenance Manual Rev.2