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Step5
Insert the shaft.
1. Make the adjustment so that the X-axis
arm and Y-axis arm are aligned on an
almost straight line.
2. Adjust the arm positions so that the
shaft enters the slot in the Y-axis arm
and the hole in the X-axis arm without
prying, and then insert the shaft.
Step6
Secure the shaft with the bolts.
Tighten the bolts so that the shaft does not
move.
Step7
Make a note the pulse value at the
X-axis position.
1. Access the "Jog" screen.
2. Lightly apply clockwise torque to the
X-axis.
3. Make a note of the X-axis pulse value
displayed in [CURRENT] when the
torque is unloaded.
4. Lightly apply counter-clockwise torque
to the X-axis.
5. Make a note of the X-axis pulse value
displayed in "CURRENT" when the torque
is unloaded.
Step8
Make a note of the pulse value at
the Y-axis position.
1. Access the "Jog" screen.
2. Lightly apply a clockwise torque to the
Y-axis while holding the X-axis.
3. Make a note of the Y-axis position pulse
value displayed on [CURRENT] when the
torque is unloaded.
4. Lightly apply a counterclockwise torque
to the Y-axis while holding the X-axis.
5. Make a note of the Y-axis position pulse
value displayed on [CURRENT] when the
torque is unloaded.
Step9
Enter the axis parameter "ARM
LENGTH".
Enter the following values (arm length
values) in the axis parameter "ARM LENGTH"
A1 and A2.
Step 5-6
Attaching the Y-axis reference coordinate jig
21320-FV-00
Bolt
Shaft
Step 5-6
Attaching the X-axis reference coordinate jig
23312-FV-00
A1 (X-axis arm length)
R6YXE610
R6YXE710
Bolt
Shaft
A2 (Y-axis arm length)
335
275
435
4-35
4
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