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1.3.3 Absolute reset in ser vo on state (new reset)
WARNING
Serious injury might occur from physical contact with the robot during operation. Never enter within the robot
movement range during absolute reset.
The operation procedure using the PBEX is described below.
NOTE
• When pressing the
• For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual".
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
Move to a position where the joint can be seen.
Move the robot to an arm position where the absolute reset is performed newly, and then move to a
position where the joint can be seen while holding the PBEX. At this time, never enter the robot
movement range.
Step4
Display the "ORIGIN RTN (TRQ/SENS)" screen on the PBEX (operation → return-
to-origin).
Step5
Display the "ORIGIN RTN (MARK)" screen.
Press
(MARK) on the "ORIGIN RTN (TRQ/SENS)" screen.
Step6
Select an axis whose absolute reset is performed.
Use the cursor keys (
press
.
Step7
Perform the step movement.
Press the jog key to perform the step movement of the robot until the absolute reset position are
matched with each other.
CAUTION
There are multiple discrete positions where the absolute reset can be performed.
After the absolute reset has been completed, the axis moves to the "0" pulse position.
Step8
Perform the absolute reset.
Press
on the "ORIGIN RTN (MARK)" pop-up screen to complete the absolute reset.
After the absolute reset has been completed, the axis moves to the "0" pulse position.
Step9
Move to the all-axis 0 pulse position.
When the absolute reset has been completed, move the robot to the all-axis 0 pulse position. For
details about how to move to the 0 pulse position, refer to the "OMRON Robot Controller User's Manual".
CAUTION
Before affixing the origin position stickers, be sure to move the robot to the all axes "0" pulse position. If the robot
is not moved to this position, the next absolute reset may not be performed correctly.
key on the execution confirmation screen, the execution of the absolute reset is canceled.
/
) to select an axis number whose absolute reset is performed, and then
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