3
Robot settings
3-7
2.2
Adjusting the
θ-axis
origin position (4-axes specification only)
The θ-axis origin position reference is the position in which the tool flange dowel hole is facing the α-axis.
The axis is adjusted to the reference position when shipped from the factory, however, the position may shift slightly.
When installing the robot for the first time, it is necessary to use the calibration tool to adjust the origin position.
CAUTION
The tool flange is fixed on 3-axes robots and therefore it is only necessary to attach the moveable base in the correct direction.
Refer to "9.1 Attaching the shafts, moveable base, and spring covers" in Chapter 2 for details on attaching the moveable base.
With the 4-axes robot, it is necessary to adjust the θ-axis origin origin position in addition to attaching the moveable base in the correct
direction.
The θ-axis origin position should generally never be changed. If changed, the axis may no longer move in the right direction.
1
Post a sign indicating that the robot is being adjusted.
Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power.
2
Enter the safety enclosure.
3
Secure the calibration tool.
The θ-axis origin position is the position in which the tool flange dowel hole is facing the α-axis.
θ-axis origin position
α
-axis
Tool flange
Dowel hole
4
Align the θ-axis calibration tool pin with the tool flange dowel hole.