Omron R6YXG500, Руководство по установке

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3
Robot settings
3-37
4. Setting the standard coordinates
CAUTION
If the standard coordinate settings are incorrect, the acceleration cannot be optimized to match the arm position. This results in too short
a service life, damage to the drive unit, or residual vibration during positioning. In addition, the cartesian coordinate accuracy will be
impaired.
Setting the standard coordinates enables the following operations and functions.
1. Optimizes acceleration according to arm position during automatic operation.
2. Allows moving robot arm tip at right angles.
3. Allows using shift coordinates.
4. Enables commands such as linear interpolation and arm switching.
The procedure for setting standard coordinates and cautions are shown below.
1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
2
Check that the soft limits are correctly set.
If not correctly set, adjust the soft limits while referring to "3. Setting the soft limits".
3
Place a sign indicating the robot is being adjusted.
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
4
Enter the safety enclosure while holding the PBEX/PB.
At this time, stay outside the robot movement range.
CAUTION
Never enter the robot movement range.
5
Set the standard coordinates.
See "Setting the standard coordinates" stated in the "omRon Robot Controller User's manual".
NOTE
The next section, "4.1 Standard coordinate setting using a standard coordinate setup jig (option)", describes how to set the standard
coordinates more accurately using an optional setup jig.
6
Check that the standard coordinates are set correctly.
1. Check that the robot arm tip can move at right angles in the manual operation (cartesian coordinates).
2. Check that the values nearly equal to the X-axis and Y-axis arm lengths are entered in "Arm length" of the axis
parameters.
If points 1 and 2 shown above are not satisfied, the standard coordinate settings are incorrect. So, make the standard
coordinate settings again.