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Setting the origin
2Unpacking to Installation
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
"5.5 Resetting the origin" on page 53 for the other methods.
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again.
Refer to
"5.5 Resetting the origin" on page 53 and reset the origin using the jig method or ABS origin
method.
2.3.1 Installing the teaching pendant (T/B)
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
Refer to the separate "Controller setup, basic operation, and maintenance" for details on installing the teaching
pendant with the control power ON.
(1) Installing with the control power OFF
1) Confirm that the controller's power supply switch is OFF.
2) Connect the T/B connector to the RS-422 (T/B) connector
on the controller.
3) Do not pull the cable with force or bend it excessively, as
the cable could break or the connector could be damaged.
4) Confirm that the [REMOVE T/B] switch on the side of the
controller is not depressed (is projected).
5) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
Fig.2-7 ： Installing the T/B (control power OFF)
Appearance of teaching pendant
ENABLE/DISABLE switch
Emergency stop switch
Display LCD
Operation keys
(T/B)
REMOVE T/B switch
Connector
Teaching pendant
<Figure shows
the CR3-535M
controller>
◇◆◇ [REMOVE T/B] switch ◇◆◇
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
also used to install the T/B with turning the controller's power supply ON.