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C23UE004-2109
J2-axis Zero-position setting (please refer to the Figure 4-3)
Step1.
Operate J2 at low speed to align the pinhole of J3 with the pinhole of J2.
Step2.
Insert the calibration tool(A) to the pinhole to calibrate Zero-position.
Step3.
Finish calibration and remove the calibration tool(A).
Step4.
Clear encoder by HRSS.
Step5.
Zero-position setting of J2 axis is completed.
Figure 4-3 Illustration of J2-axis Zero- position setting
J3-axis Zero-position setting (please refer to the Figure 4-4)
Step1.
Operate J3 at low speed to align the pinhole of J4 with the pinhole of J3.
Step2.
Insert the calibration tool(A) to the pinhole to calibrate Zero-position.
Step3.
Finish calibration and remove the calibration tool(A).
Step4.
Clear encoder by HRSS.
Step5.
Zero-position setting of J3 axis is completed.
Figure 4-4 Illustration of J3-axis Zero-position setting
Calibration tool(A)
Pinhole
Calibration tool(A)
Pinhole
Summary of Contents for RA610-GC
Page 1: ...www hiwin tw User Manual Articulated Robot RA610 GC Original Instruction ...
Page 42: ...40 C23UE004 2109 Figure 2 3 b RA610 1355 GC Outer dimension and motion range ...
Page 43: ...41 C23UE004 2109 Figure 2 3 c RA610 1476 GC Outer dimension and motion range ...
Page 44: ...42 C23UE004 2109 Figure 2 3 d RA610 1672 GC Outer dimension and motion range ...
Page 45: ...43 C23UE004 2109 Figure 2 3 e RA610 1869 GC Outer dimension and motion range ...
Page 47: ...45 C23UE004 2109 Figure 2 4 b RA610 1476 GC Wrist moment diagram ...
Page 48: ...46 C23UE004 2109 Figure 2 4 c RA610 1672 GC Wrist moment diagram ...
Page 49: ...47 C23UE004 2109 Figure 2 4 d RA610 1869 GC Wrist moment diagram ...
Page 50: ...48 C23UE004 2109 Figure 2 4 e RA610 1151 GC Wrist moment diagram mm mm ...
Page 65: ...63 C23UE004 2109 Figure 4 8 Clear encoder by HRSS ...
Page 73: ...71 C23UE004 2109 Table 6 3 Inspection schedule ...
