5
Startup
Referencing
Assembly and Operating Instructions – Parallel Arm Kinematics Kit
35
5.4.3
Referencing rotary and inclination axis
Proceed as follows:
1. Set the inclination axis to -90°.
-90°
0°
+90°
[1]
21373609483
[1]
Internal gear unit
2.
DANGER!
Risk of mechanical damage.
The alignment of the inclination axis depends on the position of the internal gear
unit. The gear unit can have 2 positions with mounted referencing tool (rotated by
180° from each other). The position of the gear unit cannot be determined by a
visual check. Determine the position by moving the inclination axis when the robot
is completely installed. With new referencing, the position of the gear unit must be
determined again.
25797530/EN – 04/2018
