Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot
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3
）
If the decelerator is replaced.
4
）
If the cable is replaced.
4.6.1 Home Position Calibration Method
Home position calibration is a relatively complicated process. According to the current actual situation
and objective conditions, the following describes the tools and methods of home calibration, as well as
some common problems and methods to solve these problems.
Software Home Position Calibration
The laser tracker needs to be used to establish the coordinate system of each joint of the robot, and the
system encoder's reading is set to zero. The software calibration is more complicated and needs to be
operated by professionals of our company.
Mechanical Home Position Calibration (Line Calibration)
Rotate the marking line of the home block to the fully aligned state, that is, the home position.
4.6.2 Mechanical Home Position Calibration of Each Axis
When re-calibrating the mechanical home position of each axis of the robot, operate the robot in the
jog mode to make each axis of the robot run to the home position alignment mark of each axis, and then
enter the home position information interface of the robot teaching box to record the coordinates of each
axis. For the specific home position calibration method, please refer to the "ER180-4-3200 Series Robot
Operation Manual" provided by our company.
The mechanical home position distribution of each axis is as follows:
Fig. 4-3 Home Positions for Each Axis
1
2
4
5
6
J1 home
position
J2 home
position
J4 home
position
J3 home
position
