4-30
CHAPTER 4 Adjustment
3-2 Changing the R-axis origin position
The method to change the R-axis origin position is as follows.
1) Prepare the necessary tools.
• Hex wrench set
2) Check that no one is inside the safeguard enclosure and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) Place a sign indicating that the robot is being adjusted in order to keep
others from operating the controller or operation panel.
5) Turn off the controller and enter the safeguard enclosure.
6) Use the hex wrench to loosen the two setscrews which fasten the dog ring
on the R-axis area. (See Fig. 4-7.)
7) Turn the dog ring to move the sensor detection area (dog) on the dog ring
to the desired origin position.
8) Tighten the setscrews to fasten the dog ring.
9) Go out of the safeguard enclosure, and check that no one is inside the safe-
guard enclosure. Then turn on the controller.
10) Perform the absolute reset from outside the safeguard enclosure.
11) After the absolute reset is completed, read the machine reference value dis-
played on the PB.
12) If the machine reference value is in the range between 40 and 60 (recom-
mended range), then the origin position has been completely changed.
If it is outside the recommended value, then adjust the machine reference
by referring to "3-1 Adjusting the R-axis machine reference".
CAUTION
IT IS SUFFICIENT TO LOOSEN THEM. IT IS NOT NECESSARY TO
COMPLETELY REMOVE THEM.
CAUTION
IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE
RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE
ADJUSTED, AND POINT DATA MUST BE RESET.
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