Resetting The Origin - Mitsubishi RV-6S Series Instruction Manual

5.5 Resetting the origin

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. The origin must be reset if the combination of robot and controller being used is
changed or if the motor is changed causing an encoder area. The types of origin setting methods are shown in
Table 5-8.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset
the origin using the jig method or ABS origin method.
.
Table 5-8 ： Origin setting method
No Method
1 Origin data input
method
2 Jig method
3 User origin method
4 ABS origin method
Note) Although "OP setting" by the mechanical stopper method can also be selected, it is not recommended for
this robot. Please use one of the methods listed in
Explanation
The origin data set as the default is input from
the T/B.
The origin posture is set with the calibration jig
installed.
A randomly designated position is set as the
origin posture.
This method is used when the encoder backup
data lost in the cause such as battery cutting.
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The setting method is explained in
origin" on page 12 .
The setting method is explained in
page 54 .
Before using this method, the origin must be set with the
other method.
The setting method is explained in
method" on page 61.
Before using this method, the origin must be set with the
other method with same encoder. The setting method is
explained in "5.5.3ABS origin method" on page
Table 5-8.
5Maintenance and Inspection
Remarks
"2.3Setting the
"5.5.1Jig method" on
"5.5.2User origin
63.
Resetting the origin 5-53