3
Robot settings
3-3
2. Adjusting the origin
The R6Y3 uses a calibration tool to mechanically adjust the origin position of the α, β, γ and θ-axes. Be sure to adjust
the origin position in the following cases.
1.
If the origin position is lost after disconnecting the robot cable connecting the controller with robot
2.
If the origin position is lost after disconnecting the θ-axis cables from the θ-axis motor cover connectors and controller side
robot cable connector.
3.
If the motor is replaced (same reason as above)
4.
If any of the axis arms are removed
CAUTION
• If any of the above situations occur after purchasing the robot, it is necessary to adjust the origin position(s) using the calibration
tool. (The robot origin positions are adjusted at the factory.)
• Always use the calibration tool to perform origin position adjustment. If adjusted without using the calibration tool, the position will
shift, resulting in abnormal robot operation, leading to robot damage and possible bodily injury.
This manual describes the origin position adjustment method using the calibration tool.