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4
Adjusting the or
ig
in
4-11
Step6
Select an axis whose absolute reset is performed.
Use the cursor keys (
/
) to select an axis number whose absolute reset is performed, and then
press
.
The execution confirmation screen will pop up.
Step7
Perform the step movement.
Press the jog key to perform the step movement of the robot until the origin position marks are
matched with each other.
CAUTION
Multiple absolute resettable positions exist discretely.
When moving the robot by pressing the jog key, all robot stop positions become absolute resettable positions.
Before performing the absolute reset, press the jog key again to move the axis left or right to check that the origin
position marks are matched with each other correctly.
(See the figure below.)
When performing the absolute reset again at the previous absolute reset position, the deviation between the
origin position marks needs to be put in a certain range (repeatability allowable value). (See the figure below.)
If the absolute reset is performed at a position exceeding the repeatability allowable value or at a position
different from the previous absolute reset position, the position deviation may occur. When performing the
absolute reset, take appropriate measures so that the deviation between the origin position marks is put in the
repeatability allowable value range correctly.
The origin position repeatability allowable value of each axis is shown below.
Origin position repeatability allowable value.
axis
Origin position repeatability allowable value(° )
X
±0.72
Y
±0.72
R
±3.00
Positional relationship between origin position stickers
Repeatability allowable value
Origin position sticker
Repeatability allowable value
Origin position sticker
Repeatability allowable value
NG
Repeatability allowable value
Origin position sticker
Origin position sticker
NG
OK
OK
Arm side ........................
End effector side ........................
23306-FH-00
Step8
Perform the absolute reset.
Press
on the "ORIGIN RTN (MARK)" pop-up screen to complete the absolute reset.
After the absolute reset has been completed, the axis moves to the “0” pulse position.
Содержание SCARA R6Y XE Series
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