Mitsubishi Electronics RV-6S instruction manual View a, ABS origin method, J4 axis J3 axis

5Maintenance and Inspection

5.5.3 ABS origin method

When the origin setting of the robot is performed for the first time, this product records the angular position of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately.

This operation is carried out with the teaching pendant. Set the [MODE] switch on the front of the controller to "TEACH", and set the [ENABLE/DISABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant.

First, set to the ABS mark arrow of the axis for which the origin is to be set with jog operation. This can be set for all axes simultaneously or each axis independently.

When setting the ABS mark, always view the operations from the mark, and set at the end of the triangular mark. The positions where the ABS mark is attached are shown in Fig. 5-28. Refer to "(1)JOINT jog operation" on page 21" for details on the jog operation.

J4 axis

A

J3 axis

View A

J6 axis

J5 axis

J1 axis

J2 axis

ABS mark

Fig.5-8 ： ABS mark attachment positions

Resetting the origin 5-63