2Unpacking to Installation
Setting the origin
2-
1
5
(5) Inputting the origin data
Input the value confirmed in section
.
The correspondence of the origin data label value and axis to be
input is shown in
.(For the 5-axis robot, the J4 axis is
meaningless.)
Fig.2-9
：
Correspondence of origin data label and axis
The method for inputting the origin data is explained below. The value shown in
will be input as an example.
<T/B screen> [Keys used]
1
) Confirm that the cursor is at the "D" position on the T/B display
screen.
2) Input the D value V!%S29.
Inputting "V"
Press the [VWX] key once while holding down the [CHAR] key. "V" will
appear, so release the [CHAR] key. "V" will be set.
Inputting "!"
Press the [#%!] key three times while holding down the [CHAR] key. "!"
will appear, so release the [CHAR] key. "!" will be set.
In the same manner, while holding down the [CHAR] key, press the
["%"] key twice, and the [STU] key once (input "S").
Release the [CHAR] key, and press the [2] key (input "2") and then
the [9] key (input "9").
V!%S29 will appear at the "D" data on the teaching pendant screen.
3) Press the [
↓
] key, and move the cursor to the J
1
input position.
4) Input the J
1
value in the same manner as above.
5) Input the J2, J3, J4, J5 and J6 values in the same manner. Note
that the J4 axis is not required for the 5-axis type.
6) After inputting all of the values, press the [INP] key. The origin
setting confirmation screen will appear.
7) Press [
1
] (-B/-P) and [INP] key to end the origin setting
<DATA> D( D )
1
: J
1
J2
3: J3 J4
5: J5 J6
Origin data label
(D,J
1
,J2,J3,J4,J5,J6)
T/B screen
<DATA>D(V!%S29)
1
:A@B&8F G#$Y5#
3:H+7%2H B="!
1
L
5:59A37! K8#&6P
<DATA>D(
0
00000)
1
:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(
V
00000)
1
:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V
!
0000)
1
:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V!%S29)
1
:
0
00000 000000
3:000000 000000
5:000000 000000
<DATA>D(V!%S29)
CHANGES TO ORIGIN
OK? (
1
)
1
:EXECUTE
<DATA>D(V!
0
000)
1
:000000 000000
3:000000 000000
5:000000 000000
＋
＋
＋
＋
POS
CHAR
+B
(J5)
6
VWX
POS
CHAR
POS
CHAR
POS
CHAR
SPD
#%!
SPD
#%!
+C
(J6)
5
STU
-A
(J4)
2
GHI
+Y
(J2)
9
&<>
RPL
↓
-B
(J5)
1
DEF
INP
EXE
INP
EXE
