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5.6 Resetting 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. The origin must be reset if the combination of robot and controller being used is
changed or if the motor is changed causing an encoder area. The types of origin setting methods are shown in
Table
5-8.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset
the origin using the jig method or mechanical stopper method or ABS origin method.
.
Table 5-8 ： Origin setting method
No
Method
1
Origin data input
method
2
Mechanical stopper
method
3
Jig method
4
ABS origin method
5
User origin method
Explanation
The origin data set as the default is input from
the T/B.
This origin posture is set by contacting each axis
against the mechanical stopper.
The origin posture is set with the calibration jig
installed.
This method is used when the encoder backup
data lost in the cause such as battery cutting.
A randomly designated position is set as the
origin posture.
5 Maintenance and Inspection
Remarks
The setting method is explained in
the origin"
.
The setting method is explained in
Mechanical stopper method"
.
The setting method is explained in
method"
.
Before using this method, the origin must be set with the
other method with same encoder. The setting method is
explained in
Page 94, "5.6.3 ABS origin
The setting method is explained in
origin
method".
Resetting the origin 5-70
Page 13, "2.3 Setting
Page 71, "5.6.1
Page 82, "5.6.2 Jig
method".
Page 96, "5.6.4 User
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