Table of Contents
Advertisement
2.1.2
Mark method (X, Y, and R-axis)
In the mark method, the robot is moved to a position beforehand where the return-to-origin is performed and
this position is determined to the return-to-origin position. The origin position reset by means of the mark
method is called "absolute reset".
There are two kinds of methods to move the robot to a position where the return-to-origin is performed as
described below. (See also "
1.
Use the jog keys to move the robot in the ser vo-on condition.
When the mark (sticker) that shows the origin position is seen from a position beyond the robot movement range, select
this step.
2.
Move the robot by hand in the ser vo off state.
When the mark (sticker) that shows the origin position is not seen from a position beyond the robot movement range,
select this step.
c
CAUTION
The absolute reset by means of the mark method can be performed using the programming box (PBX) or online
command. However, note that the absolute reset cannot be performed using the dedicated input.
c
CAUTION
When an absolute reset is performed at the same position as the previous absolute reset position, the deviation
between the origin position marks must be within a specified range (repeatability tolerance value). (See the
figure "Positional relationship between origin position sticker" in "2.3.2 Mark method (X, Y, and R-axis)" of this
Chapter.)
A position deviation will occur if absolute reset is performed at a position outside the repeatability tolerance
value or at a position different from the previous absolute reset position.
Use the included stickers to ensure that the X, Y, and R-axis can be reliably reproduced within the tolerance
value.
The origin position repeatability tolerance value for each axis of the robot are given in the table "Origin position
repeatability tolerance value" in "2.3.2.2 Absolute reset in servo off state (re-reset)" of this Chapter.
2.1.3
Stroke end method (Z-axis)
In the stroke end method, return-to-origin is performed at a position slightly backed off from the stroke end,
after the axis whose return-to-origin is performed contacts the mechanical stopper and stroke end is detected.
w
WARNING
Serious injury might occur from physical contact with the robot during operation. Never enter within the robot
movement range during return-to-origin.
Absolute reset flowchart" in "2.3.2 Mark method (X, Y, and R-axis)".)
■
3
3-3
Advertisement
Table of Contents
