5Maintenance and Inspection
(6) J6 axis origin setting |
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| <TOOL> | 12345678 |
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| BRAKE | (00000000) |
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| SET AXIS(11110000) |
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| ORIGIN | :NOT DEF |
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| Designate the origin setting axis | 1 | DEF | |
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ABS mark
J6 axis
Bolt (M5: 2 bolts)
Prepared by customer
CAUTION The 
a mechanical stopper. When setting the origin position , do not rotate the axis more than themotion range( ± 200 deg.).
RPL
↓
Move the cursor
<TOOL> | 12345678 |
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BRAKE | (00000000) |
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SET AXIS(00000100) |
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ORIGIN | :NOT DEF | ・ |
| INP | ||||||||
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(J5) | (J6) | → EXE | ||||||||||
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Designate the origin setting axis | 1 | DEF | 0 ABC | |||||||||
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<TOOL> |
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SET ORIGIN |
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OK?(1) |
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1:EXECUTE |
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| INP |
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(J5) | → EXE |
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Set the origin |
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<TOOL> | 12345678 |
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BRAKE | (00000000) |
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SET AXIS (00000100)
ORIGIN :COMPLETED
1)Slowly move the J6 axis with both hands, and align the ABS mark of the wrist housing with the ABS mark of the hand mounting flange.
2)Press the [ ↓ ] key. The cursor will move to "SET AXIS".
3)Designate the axis for which the origin is to be set.. Set "1" for the 6 axis, and set "0" for the other axes. Then, press [INP] key. Next, a confirmation screen will appear.
4)Press the [1] and [INP] keys.
The origin posture will be set.
5)Setting of the origin is completed.
6)Refer to "5.5.4Recording the origin data" on page 65 in this manual, and record the origin data on the origin data seal.
◇◆◇ Origin setting axis designation ◇◆◇
Move the cursor to the "SET AXIS" axis No. in the origin setting with the [ ← ] or [ → ] key.
The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".
This completes the setting of the origin with the jig method.