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Center of spline
groove (left)
Fig. 2.21 Axis 4 home point match-mark position and spline groove
b)
Because no home point match marks are provided for the axis 3, establish the axis
3 home point in the following manner.
Move the axis 3 down to near the lower limit and set length "L" in Fig. 4.1 above (i.e.,
distance between the boss end surface of the ball screw spline and hand flange end
surface) to the following value. This position is the axis 3 home position (Z = 0).
TH250A : 160.5 mm
TH350A : 160.5 mm
TH180
: 162 mm
TH350A-T: 160.5 mm
If the zero point adjustment of Axis 3 cannot be done as shown above, mark the
reference position and record the coordinates in advance. When configuring a
system, it is recommended to allocate a place to fix the robot's tip and provide jigs.
(when viewed from the front side)
50
MAINTENANCE MANUAL
Axis 4 home point
match-mark
Screw groove end
Spline groove (right)
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