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4
Adjusting the or
ig
in
4-18
Step11
Affix the origin position stickers.
After the robot has been moved to the all-axis 0 pulse position, press the emergency stop switch and
affix the origin position stickers supplied with the robot to easy-to-identify positions near the R-axis
rotation part so that they can be used when the absolute reset is performed again at the same
position.
Degrease the origin position sticker affixing surfaces with alcohol. After the surfaces have been dried,
affix the origin position stickers.
CAUTION
When the next absolute reset is performed at the same position, it is necessary to put the deviation between the
origin position stickers in a certain range (repeatability allowable value). (See the Fig. below.)
When affixing the origin position stickers, eliminate the deviation between the upper and lower stickers as much
as possible so that the reset position can be understood securely during next absolute reset.
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 ........................
23311-FH-00
CAUTION
When affixing the origin position stickers, be careful not to move the joint of the robot. When the servo is turned
off, the joint may move due to the harness reaction force depending on the arm position. If this symptom is
predicted, determine other position where the joint does not move to the origin position.
Step12
Go out of the safety enclosure.
Step13
Release the emergency stop of the controller.
After checking that no one is inside the safety enclosure, release the emergency stop of the controller.
Содержание SCARA R6Y XE Series
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