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[5]
When the above screen appears, memorize the position where the robot was
secured for each axis by moving the cursor and using the [TEACH] <F4> key
mode.
[6]
To establish the above, press the "EXE" key.
[7]
Press the "ESC" key to exit the REORG screen to finish.
II.
Reproducing method with HOME1 (HOME2)
Here, the reproducing method using HOME1 is described. The method is the
same with HOME2. Because this operation is the same as the reproducing
method with HOME3 (HOME4), please perform it by referring to "III. Reproducing
Method with HOME3 (HOME4)".
[1]
I. By referring to HOME setup methods [2] to [4], go to the REORG screen.
[2]
I. Move the robot to the position fixed with HOME setup method [1], and then
fix the robot.
[3]
Move the cursor to the axis on the HOME1 row of the REORG screen you
want to reproduce, and then press the [SET] <F1> key).
[4]
If there is any problem, enter the "EXE" key. This makes it possible to
reproduce the zero point position.
[5]
Press the "ESC" key to exit the REORG screen to finish.
[6]
To reflect the data updated by this operation on the current position, turn OFF
the power to the controller and then turn it ON again.
[7]
Perform ZEROP operation (Appendix E).
III. How to restore the data by HOME3 (or HOME4):
The plus (+) side mechanical stopper positions and minus (–) side mechanical
stopper positions of the axes 1 to 3 are factory-set in HOME3 and HOME4,
respectively. The machine home point can be restored, using the above.
This paragraph deals with the restoration procedures, using HOME3.
MAINTENANCE MANUAL
45
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