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2 2 2 2 Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
Unpacking to Installation
2.3 Setting the origin
2.3 Setting the origin
2.3 Setting the origin
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
this step before starting work. This step must also be carried out if the combination of robot and controller being
this step before starting work. This step must also be carried out if the combination of robot and controller being
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
used is changed.
used is changed.
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
page 55, "5.5 Resetting the origin" for the other methods.
page 55, "5.5 Resetting the origin" for the other methods.
page 55, "5.5 Resetting the origin" for the other methods.
page 55, "5.5 Resetting the origin" for the other methods.
The teaching pendant is required for this operation.
The teaching pendant is required for this operation.
The teaching pendant is required for this operation.
The teaching pendant is required for this operation.
2.3.1 Installing the teaching pendant (T/B)
2.3.1 Installing the teaching pendant (T/B)
2.3.1 Installing the teaching pendant (T/B)
2.3.1 Installing the teaching pendant (T/B)
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
Refer to the separate "From Controller Setup to Maintenance" for details on installing the teaching pendant with
the control power ON.
the control power ON.
the control power ON.
the control power ON.
(1) Installing with the control power OFF
(1) Installing with the control power OFF
(1) Installing with the control power OFF
(1) Installing with the control power OFF
Display ＬＣＤ
Display ＬＣＤ
Display ＬＣＤ
Display ＬＣＤ
TOOL
JOINT
XYZ
=＊ /
( )？
$" :
SVO ON
－
X
STEP
MOVE
(J1)
－
Y
＋
FORWD
(J2)
－
Z
－
(J3)
BACKWD
－
A
COND
(J4)
－
B
POS
(J5)
CHAR
－
C
ERROR
(J6)
RESET
Connecta
Fig.2-7 ： Installing the T/B (control power OFF)
Fig.2-7 ： Installing the T/B (control power OFF)
Fig.2-7 ： Installing the T/B (control power OFF)
Fig.2-7 ： Installing the T/B (control power OFF)
◇◆◇ [REMOVE T/B] switch ◇◆◇
◇◆◇ [REMOVE T/B] switch ◇◆◇
◇◆◇ [REMOVE T/B] switch ◇◆◇
◇◆◇ [REMOVE T/B] switch ◇◆◇
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
also used to install the T/B with turning the controller's power supply ON.
also used to install the T/B with turning the controller's power supply ON.
also used to install the T/B with turning the controller's power supply ON.
also used to install the T/B with turning the controller's power supply ON.
2 2 2 2 - - - - 12 12 12 12 Setting the origin
Setting the origin
Setting the origin
Setting the origin
ENABLE／DISABLE switch
ENABLE／DISABLE switch
ENABLE／DISABLE switch
ENABLE／DISABLE switch
DISABLE ENABLE
DISABLE ENABLE
DISABLE ENABLE
DISABLE ENABLE
R28TB
MENU
STOP
# % !
EMG.STOP
EMG.STOP
＋
X
EMG.STOP
EMG.STOP
(J1)
ADD
＋
Y
↑
(J2)
RPL
Emergency stop switch
Emergency stop switch
Emergency stop switch
Emergency stop switch
＋
Z
↓
(J3)
DEL
＋
A
←
(J4)
HAND
＋
B
→
(J5)
INP
＋
C
Operation keys
Operation keys
Operation keys
Operation keys
EXE
(J6)
Appearance of teaching pendant
Appearance of teaching pendant
Appearance of teaching pendant
Appearance of teaching pendant
REMOVE T/B switch
Teaching pendant
(T/B)
1) Confirm that the controller's power supply switch is OFF.
1) Confirm that the controller's power supply switch is OFF.
1) Confirm that the controller's power supply switch is OFF.
1) Confirm that the controller's power supply switch is OFF.
2) Connect the T/B connector to the RS-422 (T/B) connector
2) Connect the T/B connector to the RS-422 (T/B) connector
2) Connect the T/B connector to the RS-422 (T/B) connector
2) Connect the T/B connector to the RS-422 (T/B) connector
on the controller.
on the controller.
on the controller.
on the controller.
3) Fix the connector with the top and bottom screws so that it
3) Fix the connector with the top and bottom screws so that it
3) Fix the connector with the top and bottom screws so that it
3) Fix the connector with the top and bottom screws so that it
will not come off.
will not come off.
will not come off.
will not come off.
4) Do not pull the cable with force or bend it excessively, as
4) Do not pull the cable with force or bend it excessively, as
4) Do not pull the cable with force or bend it excessively, as
4) Do not pull the cable with force or bend it excessively, as
the cable could break or the connector could be damaged.
the cable could break or the connector could be damaged.
the cable could break or the connector could be damaged.
the cable could break or the connector could be damaged.
5) Confirm that the [REMOVE T/B] switch on the side of the
5) Confirm that the [REMOVE T/B] switch on the side of the
5) Confirm that the [REMOVE T/B] switch on the side of the
5) Confirm that the [REMOVE T/B] switch on the side of the
controller is not depressed (is projected).
controller is not depressed (is projected).
controller is not depressed (is projected).
controller is not depressed (is projected).
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
6) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
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