5Maintenance and Inspection
(1) J1 axis origin setting
<TOOL> 12345678 BRAKE (00000000) SET AXIS(11110000)
ORIGIN :NOT DEF -B
(J5)
Designate the origin setting axis 1 DEF
Pinhole (J1 axis)
1)Move the J1 axis slowly toward the front using both hands. Align the pinhole of the No.1 arm and the pinhole at the base section, feed through the origin jig (φ8) into the pinholes and fasten.
Diagram of the robot viewed from the top
RPL
↓
Move the cursor
<TOOL> | 12345678 |
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BRAKE | (00000000) |
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SET AXIS(10000000) |
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ORIGIN | :NOT DEF | ・ |
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| (J5) | (J6) | → EXE | |||||
Designate the origin setting axis | 1 DEF |
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SET ORIGIN |
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OK?(1) |
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1:EXECUTE |
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(J5) → EXE |
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Set the origin | DEF |
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<TOOL> | 12345678 |
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BRAKE | (00000000) |
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SET AXIS (10000000)
ORIGIN :COMPLETED
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 1 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".
Resetting the origin
