Omron R6YXG500, Installation Manual

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3
Robot settings
3-30
2.5 Adjusting the machine reference value of the stroke end method (Z-axis)
The stroke end method is employed on the XG series robots for the absolute reset of the Z-axis. The origin position of
the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed. The machine reference is
factoryadjusted at shipment, and readjustment is not necessary for normal use. The readjustment in the following
procedure is required, however, if the machine reference exceeds the tolerance range (25 to 75) of the absolute reset for
any reason.
WARNING
bEFoRE STARTInG THE WoRK, THoRoUGHLY REAd "13. dETACHInG oR ATTACHInG THE CovERS" In CHApTER 2.
CAUTION
The origin position may change due to machine reference adjustment. If it occurs, you must set point data again.
2.5.1 Stroke end method
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400)
1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
2
Place a sign indicating the robot is being adjusted.
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
3
Perform the absolute reset of the Z-axis.
NOTE
For details about how to perform the absolute reset of the Z-axis, see "2.3 Absolute reset procedures".
4
Make a note of the Z-axis machine reference value.
CAUTION
To adjust the machine reference value, be sure to follow the steps below to check the adjustment machine reference value.
1. Press the key.
2. Press the key to enter the manual mode.
3. Press the key ( + ) to select "AbS Reset".
4. After the absolute reset of the Z-axis has been completed, press the ( + ) key to display the adjustment
machine reference value (%).
5
Turn off the controller.
The Z-axis motor brake is now working at the origin position.
6
Enter the safety enclosure.
7
Remove the cover.
Remove the cover while referring to "13. Detaching or attaching the covers" in Chapter 2.
Step 7 Removing the cover
Cover
Screw
Washer
Screw
Place the cover so that
it is not damaged.
Remove the D-sub connector hood.