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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 mode of the controller 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.
To align the ABS marks, view the robot from the front. The deviation between the end points of the two triangular
marks must be 1 mm or less.
The positions where the ABS mark is attached are shown in below. Refer to
operation"
for details on the jog operation.
J1 axis
Ｊ1軸
Within 1mm
1mm以内
(+ side deviation)
(プラス側ずれ量)
Setting range of alignment mark
The angles of each axis which sets up the ABS origin are shown below.
J1 axis: 0 degrees, J2 axis: 0 degrees, J3 axis: -436.6mm, J4 axis: 0 degrees.
Fig.5-19 ： ABS mark attachment positions
Resetting the origin
5-102
Alignment mark
ＡＢＳマーク拡大図
Within 1mm
1mm以内
(- side deviation)
(マイナス側ずれ量)
ＡＢＳマークの設定範囲
Page 22, "2.3 Confirming the
Note) There is no alignment mark of the
J2 axis
Ｊ2軸
Alignment mark
合いマーク
Alignment mark of J4 axis
Ｊ4軸ＡＢＳマークの拡大図
J3 axis. The posture to be set is the
same with the jig method. Refer to
Page 99, "(3) J3 and J4 axis origin
setting".
J4
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