Operation 2. TEACH Mode
52
TP1 Rev.5
(5)
Manually move the joint that needs origin alignment to its approximate 0 pulse
position.
0 pulse position of Joint #1 : position aligned with X-axis in Manipulator coordinate
system
0 pulse
0 pulse position of Joint #2 : position where Arms #1 and #2 are in a straight line
(Regardless of the Joint #1 direction)
0 pulse
0 pulse position of Joint #3 : upper limit position in motion range
Upper limit:
0 pulse
0 pulse position of Joint #4 : position where the flat surface on the shaft faces toward
the tip of Arm #2
0 pulse
Summary of Contents for TP1
Page 1: ...Rev 5 EM079P1591F RC170 Option Teach Pendant TP1 ...
Page 2: ...ii RC170 Option Teach Pendant TP1 Rev 5 ...
Page 10: ...Table of Contents viii TP1 Rev 5 ...
Page 12: ......
Page 34: ...Functions Installation 6 Enable Switch 24 TP1 Rev 5 ...
Page 36: ......
Page 112: ...Operation 6 Maintenance Parts List and Option 102 TP1 Rev 5 ...