Omron R6Y Series, Руководство пользователя

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4-24
CHAPTER 4 Adjustment
3-4-1 Sensor method
3-4-1-1 R6YXH250, R6YXH350, R6YXH400
1-1 Adjusting the X-axis machine reference
The adjustment method for the X-axis machine reference is as follows.
1) Prepare the necessary tools.
• Hex wrench set
2) Check that no one is inside the safeguard enclosure and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) If any machine reference value displayed on the PB is not in the range be-
tween 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.
5) Place a sign indicating that the robot is being adjusted in order to keep
others from operating the controller or operation panel.
6) Turn off the controller and enter the safeguard enclosure.
7) Mark off the reference mark at the current origin position on the X-axis
joint area of the robot.
At this time, be careful to prevent the origin position from deviating since
the X-axis arm is touched.
8) Use the hex wrench to loosen two setscrews which fasten the dog ring of
the X-axis joint area. (See Fig. 4-7.)
9) Refer to Fig. 4-7 and Table 4-2 and turn the dog ring to the minimum ex-
tent.
10) Tighten the setscrews to fasten the dog ring.
11) Go out of the safeguard enclosure, and check that no one is inside the safe-
guard enclosure. Then turn on the controller.
CAUTION
IT IS SUFFICIENT TO LOOSEN THEM. IT IS NOT NECESSARY TO
COMPLETELY REMOVE THEM.