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2Unpacking to Installation
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
Page 70, "5.6 Resetting the origin"
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again.
Refer to
per method or ABS method.
2.3.1 Installing the teaching pendant (T/B)
When installing and removing the T/B, turn off the controller power supply. If T/B is installed or removed in the
state of power supply ON, emergency stop alarm will occur.
If you use the robot wherein T/B is removed, please install the attached dummy connector. With the connector,
put the dummy connector or draw it out.
CAUTION
(1) Installing the T/B (CR750 controller)
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connects T/B connector to the robot controller. Use as the upper surface the lock lever shown in
and push in until there is sound.
Dummy connector
ダミーコネクタ
T/B connector
T/B接続用コネクタ
Fig.2-8 ： Installing and removing the T/B (CR750 controller)
The installation of T/B is finished.
◇◆◇ If error C0150 occurs ◇◆◇
At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been
set up) occur the robot after purchase.
Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual /
controller setup, and basic operation & maintenance" for the operation method.
Setting the origin
2-13
for the other methods.
Page 70, "5.6 Resetting the origin"
Please do not pull the cable of T/B strongly or do not bend it too much.
It becomes the breaking of a wire of the cable and the cause of breakage of the
connector. Please installing and removing so that stress does not start the cable
with the connector itself.
Controller
A
and reset the origin using the jig method, mechanical stop -
Details of the A section
When removing the connector for
T/B接続用コネクタを取り外す時は、
T/B connection, use lock release
ロック解除（ロックレバーを上側に起
こした状態）にし、B部のケースを手前
(state which raised the lock lever to
にスライドさせてラッチを外し引き抜き
the up side), make the case of the
ます。
B section slide to the front, and
remove and pull up out the latch.
Teaching pendant
ティーチングボックス
(T/B)
(T/B)
Fig.
A部詳細
Lock lever
ロックレバー
B
2-8,
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