Changing the Robot

This section describes how to change the Manipulator model on Epson RC+.

(Default setting is "table top mounting".)

CAUTION

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Changing the Manipulator should be done with great caution. It initializes the robot calibration parameters (Hofs, CalPls), additional axis information, and PG parameter data. Before changing the robot, make sure to save the calibration data by following the procedure below.

1. Select the Epson RC+ menu-[Setup]-[System Configuration].

2. Select [Controller]-[Robots]-[Robot**]-[Calibration] from the tree list. Then, click [Save].

1. Select the Epson RC+ menu-[Setup]-[System Configuration].
2. Select [Controller]-[Robots]-[Robot**] from the tree list. (Dialog image: Epson RC+ 8.0)
   
3. Click the [Change] button. The following dialog box will be displayed.
   
4. Input the robot name and serial number printed on the name plate of the Manipulator. Any serial number can be entered. However, enter the number printed on the Manipulator.
5. Select the robot type in the [Robot type] box.
6. Select the series name of the Manipulator in the [Series] box.
7. Select the robot model in the [Model] box.
   Available robots will be displayed according to the format of the currently installed motor driver. When [Dry run] is used, all the Manipulators of the series selected in Step 6 will be displayed. For the ceiling mount type, select the model which ends with "R" (e.g. C4-B601SR).
8. Click the [OK] button. The Controller is restarted.