IAI MSEL, Инструкция по эксплуатации, Страница: 89 / 234

Chapter 4 Home-Return /
Absolute Reset
81
4.3 Absolute Reset for SCARA Robot (Battery-less Absolute Type)
It is available to perform operation on SCARA Robot without having anything special as an
absolute reset has already been conducted before delivered out from our factory. It is
necessary to have an absolute reset when an absolute error generates or the robot is
dismantled for such a reason as motor replacement work.
Model
of the
Robot
3N3515-WA
/3N4515-WA
(3-axis Absolute Type)
4N3515-WA
/4N4515-WA
(4-axis Absolute Type)
J1
axis
(Absolute reset
(Note 1)
)
↓
Operation
(Absolute reset
(Note 1)
)
↓
Operation
J2
axis
(Absolute reset
(Note 1)
)
↓
Operation
(Absolute reset
(Note 1)
)
↓
Operation
Z axis
(Absolute reset
(Note 1)
)
↓
Operation
(Absolute reset
(Note 1)
)
↓
Operation
R axis
(Absolute reset
(Note 1)
)
↓
Operation
Note 1 It is necessary to perform when the absolute error is occurred or after dismantled the
robot for a reason such as to replace motor
Described below is how to conduct an absolute reset.
(In this manual, states the procedure for the PC software. For how to treat and process on a
teaching pendant, refer to an instruction manual for each product)
Caution: Home-return operation is an action to press towards the mechanical stopper.
Make sure to secure enough space for home-return posture and also there is no
interference to the peripherals during the home-return operation.
Vertical Axis
Mechanical
Stopper
Position
Vertical
Axis Home
Position
J1 Axis Home
Position
130 deg
130 deg
J2 Axis Home
Position
J2 Axis
Mechanical
Stopper
Position
J1 Axis Mechanical
Stopper Position