Omron R6Y Series, Руководство пользователя

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4-2
CHAPTER 4 Adjustment
3 Adjusting the origin
All models of the X series robots use an absolute type position detector. The
origin position (zero pulse point) can be determined by absolute reset. Once ab-
solute reset is performed, you do not have to repeat absolute reset when turning
the power on next time.
However, absolute reset is required if any of the following cases occur. The
robot is shipped from the factory in condition "c" (below), so please perform
absolute reset after installing the robot. For more details on absolute reset, re-
fer to "Absolute Reset" in Chapter 4 of the "OMRON Robot Controller User's
Manual".
a. Absolute-related error occurred on the axis.
b. Power drop was detected in the absolute battery for the driver installed
inside the robot controller.
c. Cable connecting the robot unit to the controller was disconnected.
(This is the status when shipped from the factory.)
d. Robot generation was changed.
e. Parameters were initialized.
f. Axis parameters "Origin shift", "Origin method", "Origin direction" or
"Motor direction" were changed.
g. Motor was replaced. (Motor wiring connector was removed.)
h. Data in the ALL data file (extension: ALL) or parameter file (extension:
PRM) was written into the controller by way of the RS-232C.
The following sections explain how to perform absolute reset.
CAUTION
IF ANY OF THE ABOVE CASES OCCUR AFTER INSTALLING THE
ROBOT, ABSOLUTE RESET MUST BE PERFORMED AGAIN. TO
PERFORM ABSOLUTE RESET, MOVE THE ROBOT ARMS BACK TO
THEIR ORIGIN POSITIONS WHERE THE ROBOT DOES NOT INTERFERE
WITH PERIPHERAL EQUIPMENT AFTER THE SETUP IS COMPLETE.
CAUTION
AFTER PERFORMING ABSOLUTE RESET, MOVE THE ROBOT TO A
KNOWN POINT TO CHECK WHETHER THE ORIGIN POSITION IS
CORRECTLY SET. WHEN DOING THIS CHECK, MOVE THE ROBOT AT
THE SLOWEST POSSIBLE SPEED.
CAUTION
THE STANDARD COORDINATE AND POINT DATA MUST BE RESET
WHEN THE ORIGIN POSITION IS CHANGED.