Abs; User Origin Method - Mitsubishi Electric MELFA FR CR800 Series User Manual

15.1.4. ABS

This uses the robot's ABS origin position robot to set the robot origin.
Click the origin data screen [ABS] button to display the screen.
After moving the robot to the ABS origin position, select the axis to set the origin for with the checkbox, and then
click the [Set origin] button.
"Last" displays the origin setting technique used the previous time. This is sometimes not displayed for some
robot controller software versions.
Figure 15-6 Origin Setting (ABS) Screen
In this method, we use the ABS mark to set the origin. The ABS mark is a triangular mark attached to each axis or
Scribe line. The robot stores the position within one revolution of the encoder,you can set the exact origin by
matching the ABS mark within 1mm of the deviation. Please follow the procedure below.
<Common to RH / RV series>
1) Move with jog so that the deviation amount of ABS mark is within 1 mm.
2) Select the axis form the above screen and click the [Set Origin] button.( Can be set simultaneously on
multiple axes)
3) 1 - 2 correspond to the J1 - J2 axes of the RH series, and the J1 - J4 axes of the RV series.
< RH series >
4) Set the origin of the J3 and J4 axes at the same time. Release the brake of J3 and contacted with the + side
of the machine stopper. In this state, align the J4 axis with the mark.
5) End brake release.
6) Select the J3 and J4 axes from above screen and click the [Set Origin] button.
< RV series >
6) Set the origin of the J5 and J6 axes at the same time. J5, J6 axis simultaneously execute 1 - 2.
* The position of ABS mark will vary depending on the model. Please refer to [Robot Setup to Maintenance].

15.1.5. User Origin Method

This uses the robot user origin to set the robot origin.
Click the origin data screen [User origin method] button to display the screen.
After moving the robot to the user origin position, use the checkbox to select the axis to set the origin of, and then
click the [Set origin] button.
"Last" displays the origin setting technique used the previous time. For some robot controller software versions,
this is sometimes not displayed.
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