2Unpacking to Installation
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. This step must also be carried out if the combination of robot and controller being used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to "5.5 Resetting the origin" on page 53 for the other methods.
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again. Refer to "5.5 Resetting the origin" on page 53 and reset the origin using the jig method or ABS origin method.
2.3.1 Installing the teaching pendant (T/B)
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
Refer to the separate "Controller setup, basic operation, and maintenance" for details on installing the teaching pendant with the control power ON.
(1) Installing with the control power OFF
Display LCD | ENABLE/DISABLE switch |
1) Confirm that the controller's power supply switch is OFF.
2) Connect the T/B connector to the
3) Do not pull the cable with force or bend it excessively, as the cable could break or the connector could be damaged.
Emergency stop switch
4) Confirm that the [REMOVE T/B] switch on the side of the controller is not depressed (is projected).
Operation keys
5) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
Appearance of teaching pendant
REMOVE T/B switch
Teaching pendant (T/B)
<Figure shows the CR3-535M controller>
Connector
Fig.2-7 ： Installing the T/B (control power OFF)
◇◆◇ [REMOVE T/B] switch ◇◆◇
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is also used to install the T/B with turning the controller's power supply ON.