5-74
Resetting the origin
5Maintenance and Inspection
(6) J5 axis origin setting
1
) Press the [0] key four times and then press the
[
1
] key. "
1
" will display at the 5 position to set
the brake release.
2) Confirm the axis for which the brakes are to be
released.
3) One worker must securely support the wrist arm
with both hands.
4) While holding down the deadman switch, hold down the [MOVE] + [+X] keys. The brakes will be released
while the keys are held down.
5) With both hands, slowly move the J5 axis in - (minus) direction, and contact the axis against the mechanical
stopper.
For safety purposes, the step for releasing the brakes must be carried out by two
workers. One worker must operate the T/B, and the other must support the arm.
When the brakes are released, the robot arm could drop by its own weight depending
on the posture.
If the T/B [+X] key or the deadman switch is released, the brakes will be applied
immediately.
6) Press the [
↓
] key. The cursor will move to
SET AXIS.
7) Designate the axis for which the origin is to be
set.
Set "
1
" for the 5 axis, and set "0" for the other
axes. Then, press [INP]. Next, a confirmation
screen will appear.
8) Press the [
1
] and [INP] keys.
The origin posture will be set.
9) Setting of the origin is completed.
1
0) Refer to
"5.5.5Recording the origin data" on
in this manual, and record the origin
data on the origin data seal.
Designate the origin setting axis
-B
(J5)
1
DEF
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(11101000)
ORIGIN :NOT DEF
CAUTION
CAUTION
Front of base
J5(‑)
J5(‑)
Front of base
* The J5 axis direction of 6-axis
type in the drawing shows the
case when the J4 axis is at the
mechanical stopper position.
5-axis type
6-axis type
Designate the origin setting axis
-B
(J5)
1
DEF
-C
(J6)
0
ABC
・
→
INP
EXE
Move the cursor
RPL
↓
Set the origin
-B
(J5)
1
DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE
INP
EXE
→
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(00001000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(00001000)
ORIGIN :COMPLETED
