Maintenance 8. Calibration
358
N6 Rev.2
8.2. Calibration Procedure
Command Input
Command execution is required in some calibration procedures.
Select EPSON RC+ menu-[Tools]-[Command Window].
This step is omitted in the calibration procedures.
Jog Motion
Setting of the jog motion is required in some calibration procedures.
Select EPSON RC+ menu-[Tools]-[Robot Manager] and select the [Jog & Teach] page.
The panel, window, and page above are indicated as [Jog & Teach] in the calibration
procedures.
Follow the steps 1 to 5 to calibrate the Manipulator.
1. Basic Orientation Confirmation
Calibration is performed with the basic orientation of the Manipulator.
For details about the basic orientation, refer to
Setup & Operation 3.8 Checking the
Basic Orientation
.
When the Manipulator cannot have the basic orientation, define the reference
orientation in advance, and record the point data. Also, put the “match marks” to
indicate the orientation.
The coordinate points including the Arm orientation are referred to as “points”, and the
data of the points are called “point data” in EPSON RC+.
2. Part Replacement
Replace the parts as instructed in this manual.
Be careful not to injure yourself or damage parts during part replacement.
3. Encoder Initialization:
Connect the cables and turn ON the controller while all joints are in the motion range.
The following error message will be displayed on EPSON RC+ window
“Encoder alarm has occurred. Check robot battery. EPSON RC+ must be
restarted.”
Initialize the encoder at the current Manipulator position and reset the error.
EPSON
RC+
Execute the following command in the [Command Window] to initialize the encoder.
>Encreset
[The joint number (1 to 6) of the encoder to be reset]
Select EPSON RC+ menu-[Tools]-[Controller], then click <Reset Controller>.
Summary of Contents for N6 Series
Page 1: ...Rev 2 EM187R3735F 6 Axis Robots N6 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual N6 series Rev 2 ...
Page 8: ...vi N6 Rev 2 ...
Page 14: ......
Page 27: ...Setup Operation 1 Safety N6 Rev 2 15 N6 A850 R C A D F G F E H G F B G F G F F F N6 A850 BR F ...
Page 34: ...Setup Operation 2 Specifications 22 N6 Rev 2 N6 A850 BR Cable direction Upward ...
Page 52: ...Setup Operation 3 Environment and Installation 40 N6 Rev 2 N6 A850 R Maximum motion range 802 ...
Page 66: ...Setup Operation 4 End Effectors 54 N6 Rev 2 N6 A850 R Unit mm ...
Page 104: ......
Page 274: ...Maintenance 4 Cable 262 N6 Rev 2 4 7 1 Signal Power cable ...
Page 275: ...Maintenance 4 Cable N6 Rev 2 263 ...
Page 276: ...Maintenance 4 Cable 264 N6 Rev 2 4 7 2 User Cable ...