5Maintenance and Inspection
Resetting the origin
5-83
5.5.4 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.
The procedures for setting the origin with the ABS method are explained below.
(
1
) Select the T/B
1
) Press the [5] key on the menu screen, and dis
-
play the maintenance screen.
2) Press the [4] key on the maintenance screen,
and display the origin setting method selection
screen.
3) Press the [4] key and select the ABS method.
Then, press the [
1
] key and the [INP] key to
turn the servo OFF.
The origin of each axis can be set in the same manner as described in
Mechanical stopper method" on page
.
axis origin setting" on page 68
and succeeding sections for how to set the origin for each axis.
When setting the origin, all axes can be set, or only random axes can be set.
The methods corresponding to the axes to be set are described below, so select the corresponding explanation
and set the origin.
The brakes are released here, and the arm is moved with both hands.
For safety purposes, the brakes must be released by two workers.
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
Display the maintenance screen
+C
(J6)
5
STU
<ABS>
SERVO OFF
OK ? (1)
1:EXECUTE
Display the method selection screen
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
<ORIGIN>
1.DATA 2.MECH
3.JIG 4.ABS
5.USER
-Y
(J2)
4
MNO
<ORIGIN>
1.DATA 2.MECH
3.JIG 4.ABS
5.USER
Select the ABS method
→
-B
(J5)
1
DEF
→
INP
EXE
-A
(J4)
2
GHI
CAUTION
