Epson C Series Maintenance Manual page 662

C12 Maintenance 16. Calibration
NOTE

Calibration marks of each joint
EPSON
RC+
642
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 C Series Manual C12 Manipulator 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.
4. Calibration
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.
C Series Maintenance Manual Rev.2