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5 Maintenance and Inspection
(4) All axis origin setting
1) Refer to the paragraphs from
and J4 axis origin setting(mechanical stopper)"
J1 to J4 axes. Line up the ABS marks for the J4 axis and move the other axes into contact with the
mechanical stoppers. At this point, the robot will have the posture shown below
<ORIGIN/BRAKE>
1.ORIGIN
<ORIGIN>
1.DATA
3.TOOL
5.USER
<ORIGIN> MECH
J1(
1
)
J2(
J4(
1
)
J5(
J7(
)
J8(
<ORIGIN> MECH
CHANGE TO ORIGIN. OK?
Yes
<ORIGIN> MECH
J1(
1
)
J2(
J4(
1
)
J5(
J7(
)
J8(
Resetting the origin
5-88
Page 81, "(1) J1 axis origin setting(mechanical stopper)"
2.BRAKE
CLOSE
123
2.MECH
4.ABS
CLOSE
123
1
)
J3(
1
)
)
J6(
)
)
CLOSE
123
No
123
COMPLETED
1
)
J3(
1
)
)
J6(
)
)
CLOSE
123
above for the description of how to adjust the origins of the
2) Press the [1] key , and display the Origin set -
ting selection screen.
3) Press the [2] key , and display the Mechanical
stopper selection screen.
4) Input "1" into the J1 to J4 axis. Set "0" to
other axes.
SPACE
5) Press the [EXE] key , and display Confirmation
screen.
6) Press the [F1] key , and the origin position is
set up.
7) Setting of the origin is completed.
8) Refer to
data"
in this manual, and record the origin data
on the origin data seal.
to
Page 85, "(3) J3
Page 99, "5.6.5 Recording the origin
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