Omron NJ501-4300, Manual

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3 Setting Robot Functions
3 - 10 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
3-3 Homing
This section describes how to define the home of the robot.
For example, you need to take the following steps to define the home of Delta3.
1
Move the robot axis to the home and fix it.
Refer to the manuals and other references related to your robot, and carry out this step.
2
Select Absolute Encoder in the Sysmac Studio and set the multiple rotation to 0.
3
Execute homing with the MC Test Run of the Sysmac Studio to set the current position to 0.0.
During this operation, the Homing Method must be set to
Zero position preset .
By doing this operation, the absolute encoder compensation value, which is used to set the cur-
rent position to 0.0, is saved in the NJ-series CPU Unit's non-volatile memory.
It is also possible to set the current position to 0.0 with the MC_Home (Homing) instruction in
the user program instead of using the MC Test Run for homing.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for how to
use the MC Test Run.
4
Repeat the above steps until the homes of all robot axes are determined.