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

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5 Maintenance and Inspection
Resetting the origin 5-81
5.6.3 ABS origin method
When the origin setting of the robot is performed for the first time, this product records the angular position
of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according
to the ABS origin method, this value is used to suppress variations in the origin setting operations and to
reproduce the initial origin position accurately.
This operation is carried out with the teaching pendant. Set the mode of the controller to "MANUAL", and set
the [ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be
set for all axes simultaneously or each axis independently.
To align the ABS marks, view the robot from the front. The deviation between the end points of the two
triangular marks must be 1 mm or less.
The positions where the ABS mark is attached are shown in below. Refer to
Page 17, "2.3 Confirming the
operation" for details on the jog operation.
Fig.5-13:ABS mark attachment positions
Note) There is no alignment mark of the J3 axis. The posture to be set is the
same with the mechanical stopper method. Refer to Page 78, "(3) J3 and
J4 axis origin setting" .
The angles of each axis which sets up the ABS origin are shown below.
Model J1 axis J2 axis J3 axis J4 axis
RH-3CRH 0° 89° 148mm 0°
RH-6CRH 0° 110° 159mm 0°
↑ A
View A
ABS mark
Slit
Slit
ABS mark
ABS mark
With bellow installed
ABS mark
J2
J2
J4
J4
J1
J1
Align the ABS mark with
the slit in the mechanical stopper.