5 Maintenance and Inspection
Resetting the origin
5-106
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
for details on the jog operation.
Fig.5-18 ： ABS mark attachment positions
Ｊ2軸
Ｊ1軸
Ｊ4軸ＡＢＳマークの拡大図
合いマーク
J4
ＡＢＳマーク拡大図
ＡＢＳマークの設定範囲
1mm以内
1mm以内
(プラス側ずれ量)
(マイナス側ずれ量)
J2 axis
J1 axis
Alignment mark
Alignment mark
Alignment mark of J4 axis
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.
Note) There is no alignment mark of the
J3 axis. The posture to be set is the
same with the mechanical stopper
method. Refer to
and J4 axis origin setting (mechani
(+ side deviation)
Setting range of alignment mark
(- side deviation)
Within 1mm
Within 1mm
