Epson RC170 Guia do Utilizador descarregar pdf (Página 113)

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5. The EPSON RC+ 5.0 GUI

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 95

5. Jog the robot until the tool is aligned with the reference point. For 6-axis robots, ensure

that U = 0, V = 0, and W = 180 at the reference point. Then click the

Teach button.

The next step will be displayed in the wizard.

6. Click the

Teach button. Jog the robot so that the tool is aligned with the reference

point, but from another U angle. To do this, jog the U axis several degrees, then jog X

& Y until the tool is aligned with the reference point. After you have finished jogging

to the reference point, click

Teach.

7. For 6-axis robots only: Jog the robot back to the reference point with U = 0, V = 0, and

W = 180. Jog the W axis several degrees, then jog X and Y until the tool is aligned

with the reference point. Ensure that U and V remain at 0 degrees.

8. The new tool definition is displayed as shown below. Click

Finish to accept the new

definition.

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