Omron R6Y Series, Руководство пользователя

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4-11
CHAPTER 4 Adjustment
3-3-2-2 Absolute reset with servo off (re-reset)
The operation procedure using the PB is described next. (Press the ESC key on
the PB if you want to return to the preceding step.)
See the "OMRON Robot Controller User's Manual" for information on operat-
ing the robot controller.
1) Check that no one is inside the safeguard enclosure and then press the
emergency stop button. Next turn on the controller while in servo-off.
2) Place a sign indicating the robot is being adjusted, to keep others from
touching the controller switch.
3) While holding the PB, enter the safeguard enclosure.
4) Set the controller to MANUAL mode, if not in MANUAL mode.
5) Press the F13 (LOWER+F3) key to select "RST.ABS".
6) Select the axis for absolute reset. (X-axis: M1, Y-axis: M2, Z-axis: M3, R
axis: M4)
To perform absolute reset on all axes, select "ALL" with the F11
(LOWER+F1) key.
7) Move the robot manually to a position where the origin position marks are
aligned with each other.
CAUTION
THE Z-AXIS (M3) USES THE STROKE END METHOD TO DETECT THE
ORIGIN POSITION BY HAVING THE AXIS MAKING CONTACT WITH A
MECHANICAL STOPPER AT THE END OF THE STROKE. (DEFAULT
SETTING)
THIS MEANS THAT THE SERVO MUST BE TURNED ON TO PERFORM
Z-AXIS ABSOLUTE RESET. SEE "3-3-2-1 ABSOLUTE RESET WITH SERVO
ON (RE-RESET)" FOR INFORMATION ON PERFORMING ABSOLUTE
RESET ON THE Z-AXIS.
CAUTION
THE DEVIATION BETWEEN THE ORIGIN POSITION MARKS MUST BE
WITHIN A SPECIFIED RANGE (REPEATABILITY TOLERANCE) WHEN
PERFORMING AN ABSOLUTE RESET AT THE SAME POSITION AS THE
PREVIOUS ABSOLUTE RESET. (SEE FIG. 4-4)
A POSITION DEVIATION (POSITIONAL SHIFT) WILL OCCUR IF THE
ABSOLUTE RESET IS PERFORMED AT A POSITION OUTSIDE THE
REPEATABILITY TOLERANCE OR AT A POSITION DIFFERENT FROM
THE PREVIOUS ABSOLUTE RESET POSITION.
WHEN PERFORMING THE ABSOLUTE RESET MAKE SURE THAT THE
DEVIATION (POSITIONAL SHIFT) BETWEEN THE ORIGIN POSITION
MARKS IS WITHIN THE ALLOWED TOLERANCE FOR ORIGIN POSITION
REPEATABILITY.