5-96
Resetting the origin
5 Maintenance and Inspection
5.6.3 ABS origin method
When the origin setting of the robot is performed for the first time, this product records the angular position of the
origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the
ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the
initial origin position accurately.
This operation is carried out with the teaching pendant. Set the [MODE] switch on the front of the controller to
"MANUAL", and set the [ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be set for
all axes simultaneously or each axis independently.
When setting the ABS mark, always view the operations from the mark, and set at the end of the triangular mark.
The positions where the ABS mark is attached are shown in below. Refer to
for details on the jog operation.
Note that if the ABS marks are peeled off, the positions can be matched using the following alternative methods.
*Match the ruling lines of the ABS mark mounting position surfaces.
Fig.5-13 ： ABS mark attachment positions
J4
A
Ｊ1軸
Ｊ2軸
矢視Ａ
各軸のＡＢＳマーク拡大図
Ｊ4軸ＡＢＳマークの拡大図
シャフト側はメカストッパの底面にあります。
Ｊ4軸
Note) There is no alignment mark of the J3
axis. Contact the J3 axis against
mechanical stopper as the mechanism
stopper method.
J1 axis
J2 axis
J4 axis
Alignment mark
General environment type
Clean/Waterproof type
Alignment
mark
ABSマーク
J4
J4
ABSマーク
Alignment
mark
Alignment
mark
Alignment mark of J4 axis (View A)
