4-15
CHAPTER 4 Adjustment
9) After moving all the axes back to their "0" pulse positions, press the emer-
gency stop button and affix the supplied origin position stickers to the up-
per and lower areas of the X-axis, Y-axis, and R-axis. Use these marked
positions to perform an absolute reset if it is needed in the future. (See Fig.
4-5 to Fig. 4-8.)
Use alcohol, etc. to remove any grease or oil from the surface where you
will affix the stickers. After the surface dries attach the stickers securely.
10) Go outside the safeguard enclosure.
11) Check that no one is inside the safeguard enclosure and then release the
emergency stop button on the controller.
CAUTION
THE DEVIATION BETWEEN THE ORIGIN POSITION MARKS MUST BE
WITHIN A SPECIFIED RANGE (REPEATABILITY TOLERANCE) WHEN
PERFORMING THE ABSOLUTE RESET AT THE SAME POSITION AS THE
PREVIOUS ABSOLUTE RESET. (SEE FIG. 4-4)
WHEN AFFIXING AN ORIGIN POSITION STICKER, ALIGN IT PRECISELY
WITH THE UPPER AND LOWER STICKERS OF THE JOINT AREA SO
THAT THE ABSOLUTE RESET POSITION CAN BE EASILY CHECKED THE
NEXT TIME AN ABSOLUTE RESET IS PERFORMED.
CAUTION
BE CAREFUL NOT TO LET THE ROBOT JOINTS MOVE WHILE
ATTACHING THE ORIGIN STICKERS. WHEN THE SERVO IS OFF, THE
ROBOT JOINTS MAY SOMETIMES MOVE DUE TO TENSION IN THE
HARNESS FROM THE ARM POSITION. IF THIS IS THE CASE, THE
ORIGIN SHOULD BE SET TO ANOTHER POSITION WHERE THE JOINTS
WILL NOT MOVE.
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...