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1.3.4 Absolute reset in ser vo off state (new reset)
WARNING
Be sure to press the emergency stop button and move the robot in the state where the servo on cannot be
operated from the outside.
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
Enter the safety enclosure.
Enter the safety enclosure while holding the PBEX.
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
Move the arm to the position where the origin position marks are matched with
each other.
Press the emergency stop button on the PBEX to put the robot in the emergency stop state.
WARNING
Be sure to press the emergency stop button and move the robot in the state where the servo on cannot be
operated from the outside.
Manually move the robot to a position where the return-to-origin is performed.
Step7
Check the machine reference value.
When the robot is moved to a position where the absolute reset is performed, check that the value of
the selected axis is in the range between 26 and 74 on the PBEX screen. (Normally, this value is 50.)
Step8
Select an axis whose absolute reset is performed.
Use the cursor keys (
press
.
The execution confirmation screen will pop up.
CAUTION
• There are multiple discrete positions where the absolute reset can be performed. Move the robot step-by-step
while referring to the PBEX screen. When the robot comes to a position near the absolute reset position where
the value of the selected axis on the PBEX screen enters the range between 26 and 74, press the
• If the value of the selected axis is not in the range between 26 and 74, the message, "Position reset malposition",
appears in the next operation and the return-to-origin cannot be completed.
Step9
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.
Step10
Move the robot 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
4
key.
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