Basic Posture - Okura Yusoki A Series Original Instructions Manual

4.2. Basic Posture

When the robot is set in the basic posture, and origin storing is performed, the system
reads the encoder pulses and amount of shift (number of pulses) off the robot basic posture,
and the offset value is automatically calculated.
[A1800V/A1600V/A700V]
Axis
Robot arm oriented in the opposite
direction of the base wiring connector at
bottom is taken as the origin.
R
0 degree (horizontal) is taken as the
origin.
Origin
D
90 degrees (vertical) is taken as the
origin.
O
Hand palm set in parallel with the robot
arm is taken as the origin.
T Choose the center position of T axis
cable turning around as the axis can
make multi-turns.
Basic posture
Origin
How to set to basic posture
With A1600V,A700VSeries）Move
the R-axis, and align the scribed
lines on the base and base.
With A1800V ） Move the R-axis,
and align the match marks on the
base and rotor.
Move the D-axis and align the
match marks on the rotor and
lever.
Move the O-axis and align the
match marks on the rotor and
arm.
Move the T-axis and align the
match marks (scribed mark).
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