Mitsubishi Electric MELFA RH-3CRH Series, Инструкция по эксплуатации

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5-68 Resetting the origin
5 Maintenance and Inspection
5.6 Resetting the origin
The origin is set so that the robot can be used with a high accuracy. The origin is set so that the robot can be
used with a high accuracy. Setting is required if the motor is replaced or an encoder error occurs.
The origin setting methods and when each origin setting method is required are shown in
Table 5-12 .
Table 5-12:Origin setting method
[Remarks]
• The origin is set using the jig method (No.2) at factory default.
• The origin data is inherent to the serial number of each robot arm.
• The ABS origin method is used to restore the previous data by aligning the triangular marks to each other
for each axis to set the lost origin data.
(Although the setting position is confirmed visually, deviations within a half rotation of the motor can be
compensated.)
[Caution]
• The ABS origin method cannot be used when the robot arm mechanically deviates (for example caused by
replacement of the reduction gear, motor, or timing belt).
• After the origin setting is completed, move the robot arm to the position where the ABS marks align each
other, and check that the displayed joint coordinates of the position are correct.
For the details of the ABS mark position and the joint coordinates, refer to
Page 85, "5.6.5 Recording the
origin data" .
No Method Explanation
Cases when setting the origin
is required
Remarks
1 Origin data input
method The origin data set as the default
is input from the T/B. • When the data is lost due to flat
battery of the robot controller
(when C7500 occurs)
The setting method is explained in
Page 69, "5.6.1 Setting the origin
with the origin data input method"
.
2 Jig method The origin posture is set with the
calibration jig installed. • When a structural part of the
robot (motor, reduction gear,
timing belt, etc.) is replaced
• When deviation occurred by a
collision.
The setting method is explained in
Page 73, "5.6.2 Jig method" .
3 ABS origin method This method is used when the
encoder backup data lost in the
cause such as battery cutting.
• When the encoder data is lost
due to flat battery of the robot
arm (when H112n occurs)
Before using this method, the origin
must be set with the other method
with same encoder. The setting
method is explained in
Page 85,
"5.6.5 Recording the origin data" .
4 User origin method A randomly designated position
is set as the origin posture.
• When an arbitrary position is
set as the origin
Before using this method, the origin
must be set with the other method.
The setting method is explained in
Page 83, "5.6.4 User origin method" .