This paper mainly elaborates on how to establish the east-west coordinate system of Epson 4-axis robot and its verification.
1. Establish communication with the robot: through the EPSON RC+ software, click to set >> communication between the computer and the controller to complete the communication between the PC and the robot, where USB or Ethernet communication can be used.
2. Open the thing tour guide: After the EPSON RC+ software, click on the thing >> robot manager>> things >> things tour guide, and open the things tour guide.
3. Select the thing number: Here you can select a thing number created by the demand, in this case it is thing 1.
4. Teach*** reference points: click on the teach-in directly.
5. East-West tour guide, teaching reference point 1: In the step-by-step teaching interface, control the U-axis to 0°, then control XY, align the center of the thing with the feature point, and click the teaching button after the end.
6. The second reference point of teaching: click directly on teaching.
7. East and West tour guide, teaching reference point 2: In the stepping teaching interface, control the U axis is 180°, if due to mechanical reasons, it doesn't matter if you can't rotate 180°, then control XY, align the center of the thing with the feature point, and click the teaching button after the end.
8. The teaching is over.
9. After the teaching of things is finished, the requirements are verified, in the stepper teaching interface, switch the Tool to the thing 1 that has just been taught, and then rotate the U axis to observe whether the center of the thing has been aligned with the feature points, if it has been aligned, it is clarified that the thing is available, if there is an offset, it is clarified that the requirements create things from scratch.
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