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5 Maintenance and Inspection
5.6.4 User origin method
CAUTION
The procedure for setting the origin with the user origin method is explained below.
This operation is carried out with the teaching pendant. Set the [ENABLE] switch on the teaching pendant to
"ENABLE" to enable the teaching pendant.
The operation method is shown below.
The operation method is shown below.
Software version "C2j" or later has the "user origin data setting specification parameter (UORGSPEC)".
Changing the setting value to "1" (high accuracy) will perform compensation considering sagging due to the
gravity applied to the robot. This improves the accuracy of setting the origin with this method.
However, if the setting value is changed to "1" (high accuracy), reset the user origin position and origin.
With software version earlier than "C2j", after setting the user origin position and changing the parameter
(UORGSPEC) to "1" (high accuracy), setting the origin will deteriorate the accuracy. Therefore, perform the
above steps without fail.
This function is available for the RV-FR series. As the RH-FRH series are not subject to sagging, the set-
tings are not effective.
When setting the origin for the first time using this method, carry out the operations in order from step "1)". For
the second and following time, move the robot arm to the user origin position with jog operation, and accurately
position all axes. Then start the procedure from step "4)".
1) Determine the user origin position
Operations required before configuring the settings
The same hand and workpiece conditions must be applied for the user origin position and user origin set-
tings. Be sure to perform the following operations.
• Disable the "robot mechanism thermal compensation function".
• Set the hand and workpiece conditions (HNDDAT0, WRKDAT0) beforehand.
Move the robot to the position to be set as the origin with jog operation. Refer to
the operation"
CAUTION
2) Enter the JOINT jog mode, and display the joint coordinates on the teaching pendant screen. Record the
value of the axis for which the origin is to be set.
3) Input the value recorded in the "user designated origin parameter (USERORG)".
The parameter details and input methods are described in the separate "Instruction Manual/Detailed Explana -
tion of Functions and Operations". Refer to that manual and input the user designated origin position.
<MENU>
1.FILE/EDIT
3.PARAM.
5.SET/INIT.
123
Resetting the origin
5-104
Before using this method, the origin must be set with the other method.
The setting method is explained in
for details on the jog operation.
Choose the user origin position as the position where it doesn't move by the gravity.
This position is left as a guideline to position all axes with jog operation when setting
the origin again with this method.
2.RUN
4.ORIGIN/BRK
6.ENHANCED
CLOSE
Page 89, "Table 5-12 ： Origin setting
Before performing step 4), refer to
Operations required before configuring the set-
tings".
4) Next, set the origin.
Display the menu screen.
5) Press the [4] key on the menu screen, and dis -
play the Origin/Brake selection screen.
method".
Page 22, "2.3 Confirming
Page 104, "
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