4-15
CHAPTER 4 Adjustment
9) After moving all the axes back to their "0" pulse positions, press the emer-
gency stop button and afx the supplied origin position stickers to the up-
per and lower areas of the X-axis, Y-axis, and R-axis. Use these marked
positions to perform an absolute reset if it is needed in the future. (See Fig.
4-5 to Fig. 4-8.)
Use alcohol, etc. to remove any grease or oil from the surface where you
will afx the stickers. After the surface dries attach the stickers securely.
10) Go outside the safeguard enclosure.
11) Check that no one is inside the safeguard enclosure and then release the
emergency stop button on the controller.
CAUTION
THE DEVIATION BETWEEN THE ORIGIN POSITION MARKS MUST BE
WITHIN A SPECIFIED RANGE (REPEATABILITY TOLERANCE) WHEN
PERFORMING THE ABSOLUTE RESET AT THE SAME POSITION AS THE
PREVIOUS ABSOLUTE RESET. (SEE FIG. 4-4)
WHEN AFFIXING AN ORIGIN POSITION STICKER, ALIGN IT PRECISELY
WITH THE UPPER AND LOWER STICKERS OF THE JOINT AREA SO
THAT THE ABSOLUTE RESET POSITION CAN BE EASILY CHECKED THE
NEXT TIME AN ABSOLUTE RESET IS PERFORMED.
CAUTION
BE CAREFUL NOT TO LET THE ROBOT JOINTS MOVE WHILE
ATTACHING THE ORIGIN STICKERS. WHEN THE SERVO IS OFF, THE
ROBOT JOINTS MAY SOMETIMES MOVE DUE TO TENSION IN THE
HARNESS FROM THE ARM POSITION. IF THIS IS THE CASE, THE
ORIGIN SHOULD BE SET TO ANOTHER POSITION WHERE THE JOINTS
WILL NOT MOVE.
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