6. Trobleshooting
6.5. Encoder Zero Setting
It is necessary to reset the origin when encoder data has been corrupted due to some problems and when the motor is replaced.
Level and Block is adopted as the position setting method for each axis. The origin must be set in order of axis 4, 5, and 6 considering axis interference of the wrist due to its structural characteristic.
Warning
In this work, there is a part performing in the state of motor [ON]. Therefore, this work must be performed in pairs. One must always be ready to activate an emergency stop. The other must perform the work quickly but carefully.
An escape route should be determined before starting work.