16
6.3
Referencing the robot
To enable an automatic programme sequence, the robot electronics must be referenced.
1.
To do this, press the "Enable" button at the
top edge of the display.
2.
The robot must be in "NoError" status. If it is
in an error state, enable it with "Reset" and
"Enable".
3.
Now press the "Ref All" button to reference
all axes. The robot now carries out search
movements for each axis.
4.
Referencing is complete when there is a 1
next to Ref A1-A5 respectively.
For a 4-axis robot, Ref A5 will remain at 0.
Ref E1 is intended for additional external
axes.
5.
After referencing, the axes are in the error
state. This is necessary because the actual
position has changed in the referencing
process.
6.
Now press the round "Reset" button, followed
by the round "Enable" button. The robot is now
referenced.
The type of referencing movement depends on the robot or encoder type.
