Epson C Series Maintenance Manual page 663

6-axis robots

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C Series Maintenance Manual Rev.2

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.

C12 Maintenance 16. Calibration