Adjusting The Machine Reference Value; Stroke End Method - Omron SCARA XE Series Maintenance Manual

1.

Adjusting the machine reference value

The X- and Y-axis origin positions of the XE series are fixed and cannot be changed. Additionally, the machine
reference value was correctly adjusted at shipment. The readjustment is not needed during normal operation.
However, if the machine reference value exceeds the return-to-origin tolerance range for some reason, follow
the steps below to readjust the machine reference value.
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WARNING
Before starting the work, thoroughly read "1. Detaching or attaching the covers" in Chapter 2.
CAUTION
If any machine reference is adjusted, the origin position may change. Before the adjustment, mark off the
reference mark at the current origin position on the main body of the robot. After the machine reference is
adjusted, be sure to check that the origin position has not deviated. If the origin position changes after the
machine reference has been adjusted, then the standard coordinate and point data must be reset.
1.1

Stroke end method

The machine reference value was adjusted correctly at shipment. So, the readjustment is not needed during
normal operation. However, if the machine reference value exceeds the return-to-origin tolerance range (25 to
75%) for some reason, follow the steps below to readjust the machine reference value.
CAUTION
The origin position may change due to machine reference adjustment. If it occurs, you must set point data again.
Step1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
Step2
Place a sign indicating the robot is being adjusted.
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or
operation panel.
Step3
Perform the return-to-origin.
NOTE
For details about how to perform the return-to-origin, refer to "2.3 Return-to-origin procedures" in Chapter 3 of the
Installation Manual.
Step4
Record the machine reference value.
Step5
Turn off the controller.
The motor brake is now working at the origin position.
Step6
Enter the safety enclosure.
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