Abs Origin Method - Mitsubishi RV-2F Series Instruction Manual

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5 Maintenance and Inspection

5.6.3 ABS origin method

When the origin setting of the robot is performed for the first time, this product records the angular position of the

origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the

ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the

initial origin position accurately.

This operation is carried out with the teaching pendant. Set the controller mode to "MANUAL", and set the

[ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.

First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be set for

all axes simultaneously or each axis independently.

When setting the ABS mark, always view the operations from the mark, and set at the end of the triangular mark.

The positions where the ABS mark is attached are shown in below. Refer to

Page 20, "2.4 Confirming the

operation"

for details on the jog operation.

J4 axis

(Elbow part upper surface)

J5 axis

Elbow

J3 axis

J6 axis

J2 axis

J1 axis

ABS mark

ＡＢＳマーク

Note) The figure is reference to show the sticking position of the ABS mark. The angles of each

axis which sets up the ABS origin are (0, 0, 90, -50, 75, 0).

Fig.5-18 ： ABS mark attachment positions

Resetting the origin 5-94

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