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6. Trobleshooting
6-15
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.