Epson C Series Maintenance Manual page 659

6-axis robots

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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

being twisted or pinched and it may result in Manipulator malfunction.

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 C Series Manual C12 Manipulator 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)

C Series Maintenance Manual Rev.2

: Connecter plate (Cable downward model)

Connecter plate

(Cable downward model)

C12 Maintenance 16. Calibration

Arm #3 cover

(common between cable downward

and cable backward models)

(Cable backward model)