Omron SCARA R6Y XE Series Installation Manual page 100

Step10
Affix the origin position stickers.
After the robot has been moved to the all axes "0" pulse position, press the emergency stop button and
affix the origin position stickers to legible positions. After that, these origin position stickers are used to
perform the absolute reset again at the same position.
Degrease the origin position sticker affixing surface with alcohol, etc. After the surface has been dried,
affix the sticker.
CAUTION
When the next absolute reset is performed at the same position, it is necessary to put the deviation between the
origin position stickers in a certain range (repeatability allowable value). (See the Fig. below.)
When affixing the origin position stickers, eliminate the deviation between the upper and lower stickers as much
as possible so that the reset position can be understood securely during next absolute reset.
The origin position repeatability allowable value of each axis is shown below.
Origin position repeatability allowable value.
4
CAUTION
When affixing the origin position stickers, be careful not to move the joint of the robot. When the servo is turned
off, the joint may move due to the harness reaction force depending on the arm position. If this symptom is
predicted, determine other position where the joint does not move to the origin position.
Step11
Go out of the safety enclosure.
Step12
Release the emergency stop of the controller.
After checking that no one is inside the safety enclosure, release the emergency stop of the controller.
4-20
axis Origin position repeatability allowable value(° )
X
Y
R
Positional relationship between origin position stickers
Arm side ........................
End effector side ........................
±0.72
±0.72
±3.00
Repeatability allowable value
Repeatability allowable value
Repeatability allowable value
Repeatability allowable value
OK
Origin position sticker
OK
Origin position sticker
NG
Origin position sticker
NG
Origin position sticker
23309-FH-00