5 Maintenance and Inspection
Resetting the origin
5-119
5.6.2 ABS origin method
When the origin setting of the robot is performed for the first time, this product records the angular position of the
origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the
ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the
initial origin position accurately.
This operation is carried out with the teaching pendant. Set the controller mode to "MANUAL", and set the
[ENABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.
First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be set for
all axes simultaneously or each axis independently.
To align the ABS marks, view the robot from the front. The deviation between the end points of the two triangular
marks must be 1 mm or less.
The positions where the ABS mark is attached are shown in below. Refer to Page 25, "2.4 Confirming the
operation" for details on the jog operation.
Fig.5-20 ： ABS mark attachment positions (RV-4F/7F series)
ＡＢＳマークの設定範囲
1mm以内 1mm以内
(プラス側ずれ量) (マイナス側ずれ量)
J1 axis
J2 axis
J3 axis
J4 axis
J5 axis
J6 axis
The angles of each axis which sets up the ABS origin are shown below.
Model J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis
RV-4F series 0 degrees -107 degrees 90 degrees 0 degrees 90 degrees 0 degrees
RV-7F series 0 degrees 0 degrees 115 degrees 0 degrees 90 degrees 0 degrees
ABS mark
Within 1mm
(+ side deviation)
Setting range of ABS mark
Within 1mm
(- side deviation)
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