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•
When moving the robot by hand while the power is turned on, be sure to assure
the safe work and effect an emergency stop beforehand.
•
In the above situation, if the work is to be done while the axis 3 motor brake
OFF switch is pressed, be sure to perform the work by two (2) persons.
One person should carry out the work while the other is monitoring the work
outside the hazardous zone. The latter person should watch the work and be
ready to turn off the controller switch if any abnormality occurs. Once the
controller power is turned off, the motor brake actuates even if the axis 3 motor
brake OFF switch is kept pressed.
•
If the axis 3 motor brake OFF switch is pressed while the robot is carrying a
heavy workpiece, the axis 3 may drop suddenly. To avoid this, the customer
should take all necessary measures by themselves.
(1)
Outline of HOME Function
This function memorizes a specific coordinate value in each axis and restores the
original home position data by using the HOME function when the machine home
position data has been destroyed.
The set points are provided for HOME1 to HOME4, and the axis 1 to axis 3 plus (+)
side mechanical stopper positions are set in HOME3, and the axis 1 to axis 3 minus
(–) mechanical stopper positions in HOME4. The axis 4 is set at the 0° position
according to the home point match-mark.
For HOME1 and HOME2, you can specify any values. It is recommended that
when building up a system, you specify the place for securing the robot end.
On the following REORG screen, the unit of each axis position is "×10
For example, the value of "(J1) 1183468" below signifies that the axis 1 is positioned
at 118.3468 [deg]. Pressing the "NEXT" key allows for switching the page.
(Page 1)
Ｕ Ｓ Ｅ Ｒ
（ Ｊ １ ）
（ Ｊ ２ ）
（ Ｊ ３ ）
（ Ｊ ４ ）
（ Ｊ ５ ）
Ｓ Ｅ Ｔ
!
DANGER
Ｈ Ｏ Ｍ Ｅ １
０
０
０
０
０
43
MAINTENANCE MANUAL
Ｈ Ｏ Ｍ Ｅ ２
０ ［ ｄ ｅ ｇ ］
０ ［ ｄ ｅ ｇ ］
０ ［ ｍ ｍ ］
０ ［ ｄ ｅ ｇ ］
０ ［ ｍ ｍ ］
Ｔ Ｅ Ａ Ｃ Ｈ
–4
[deg], [mm]".
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