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2. Basic operation
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2.1.2 How to initiate the system
1. At manual mode, select “ System” [PF2] → 5: System format → 1. System format. If you
initialize the system, not only controller parameter file, machine parameter file, but also
all kinds of files shall be deleted. Do not use it except system installation at first time.
2. Select the type of robot connected controller.
3. In case of additional axis, key in the number of axis and decide that whether conveyor
synchronizing is "ON" or "OFF" and vibration control mode is "ON" or "OFF".
4. Turn the controller's power switch to "ON" form "OFF".
5. At manual mode, select "System"[PF2] → 3: Machine parameter → 5: Encoder offset
calibration, then execute encoder offset calibration.
6. At motor "ON" status, after move robot to basic position, execute encoder offset calibration
once more. This position data shall be used for encoder resetting when you change the motor.
7. Select program number 9999 and record one position step.
8. After selecting "MANUAL" mode and teaching automatic constant setting program, carry out
optimizing axis constant and tool length function.
2.1.3 Teaching
1. Select "MANUAL" mode.
2. Select program number by pressing [Shift(FAST)]+[Prog].
3. Push [Motor On] key on the operation panel.
4. Push [JOG ON] key on the teaching pendant and confirm the LED is lighting up..
5. Move the robot using axis operation buttons and setup the moving condition such as record
speed, interpolation type, accuracy etc.
6. Press [REC] key at the position that to be remembered.
7. Record the function.