Maintenance 14. Calibration
194
E2C Rev.6
Coordinates for the working point requires calculation in the following cases:
· Teaching the working point by entering the coordinate values (MDI teaching)
· Switching the arm orientation between right and left at a given point
· Using the PALET command (SPEL CT), or PALLET command (EPSON RC+)
· Executing CP control (such as liner or circular interpolation)
· Using the LOCAL command
· Pose data specified with relative coordinates <Example: P1+X(100) >
· Vision Guide camera calibrations
· Conveyor tracking
Calibration Using Right / Left Arm Orientations
(1) Select a pose (point) for which it is easy to verify the accuracy from the data in the
accessible area for both right and left arm orientations. And then teach the pose
(point) in the right arm orientation. This pose (point) is now called P1.
Specify the point number “1” in the [Jog & Teach] and click the <Teach> button.
(2) Switch the arm orientation to left. Then, move the arm to the same point.
>JUMP P1:Z(0)/L '
Change the arm orientation from right to left
(3) The joints are slightly out of position. Adjust the gap with the jog motion in the
[Jog & Teach]. This pose (point) is now called P2.
(4) Input the new Hofs value.
>
Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
(5) Move the Manipulator to another pose (point). Make sure that the Manipulator
moves to the correct position.
Summary of Contents for E2C Series
Page 1: ...SCARA ROBOT E2C series MANIPULATOR MANUAL Rev 6 EM069R1409F ...
Page 2: ...MANIPULATOR MANUAL E2C series Rev 6 ...
Page 8: ...vi E2C Rev 6 ...
Page 14: ......
Page 82: ......
Page 92: ...Maintenance 2 General Maintenance 80 E2C Rev 6 ...
Page 118: ...Maintenance 4 Replacing the Cable Unit 106 E2C Rev 6 ...
Page 194: ...Maintenance 11 Replacing the Signal Relay Board 182 E2C Rev 6 ...
