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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 origin position marks are aligned with each other.
CAUTION
To perform the absolute reset again at the same position as the previous absolute reset position, it is necessary to
put the deviation between the origin position marks within a certain range (repeatability allowable value). (See
the Fig. below.)
If the absolute reset is performed at a position exceeding the repeatability allowable value or a position different
from the previous absolute reset position, the positional deviation may occur.
When performing the absolute reset, take appropriate measures so that the deviation between the origin position
marks is put in the repeatability allowable value range correctly.
The origin position repeatability allowable value of each axis is shown below.
Origin position repeatability allowable value.
axis
Origin position repeatability allowable value(° )
X
Y
R
Positional relationship between origin position stickers
Arm side ........................
End effector side ........................
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.)
±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
4
23307-FH-00
4-17
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