Epson RC170 Guia do Utilizador descarregar pdf (Página 263)

9. Robot Configuration

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 245

9.3 Changing Robot System Parameters

The following system parameters for the robot can be changed from EPSON RC+ 5.0:

Enable/Disable Joints -

You can disable one or more joints from Setup | Controller | Robot | Configuration. On

robots with ball screw Z axis, you must disable both joints 3 and 4 together.

Hofs -

Hofs are the joint home offsets. You can view and edit the values from Setup | Controller

| Robot | Hofs. However, it is recommended that you use the Robot Calibration wizard to

set these values. These values are unique for each robot and are supplied from the factory.

Hofs are especially important for SCARA robots because the values determine that both

lefty and righty hand orientation will position the robot at the same point.

CalPls -

CalPls values are joint calibration offsets. You can view and edit the values from Setup |

Controller | Robot | Calpls. However, it is recommended that you use the Robot

Calibration wizard to set these values. These values are unique for each robot and are

supplied from the factory. CalPls values are used to calibrate joint position after

replacing a motor / encoder.

These are one-time settings for each robot. Additional robot parameters can be set from

the Robot Manager.

To change robot parameters, follow these steps

1. Select Controller from the Setup Menu.

2. Under the Robot folder in the tree on the left, select Calibration, Hofs, or CalPls.

3. Perform a calibration or change values for Hofs or CalPls.

4. Click Apply to make the changes permanent.

9.3.1 Saving robot calibration data

You can save and load individual robot calibration files. This is useful for moving a robot

from one controller to another. When you save calibration data, a file is created with an

MPD file extension. This file contains Hofs and CalPls values.

To save robot calibration data

1. Select Controller from the Setup Menu.

2. Under the Robot folder in the tree on the left, select Calibration.

3. Ensure that the robot serial number is correct. The serial number will be used to create

the default file name. It is recommended that the serial number be used.

4. Click the Save Cal button. Browse to a destination directory and click Save.

9.3.2 Loading robot calibration data

To load robot calibration data

1. Select Controller from the Setup Menu.

2. Under the Robot folder in the tree on the left, select Calibration.

3. Click the Load Cal button. Browse to the desired MPD file and click Open.

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Epson RC170 Guia do Utilizador Página 263