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Resetting the origin
5Maintenance and Inspection
(6) J6 axis origin setting
1) Slowly move the J6 axis with both hands, and
align the ABS mark of the wrist housing with the
ABS mark of the hand mounting flange.
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 6 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.
This completes the setting of the origin with the jig method.
Designate the origin setting axis
-B
(J5)
1
DEF
-C
(J6)
0
ABC
・
→
INP
EXE
Set the origin
-B
(J5)
1
DEF
INP
EXE
→
Designate the origin setting axis
-B
(J5)
1
DEF
Move the cursor
RPL
↓
<TOOL> 12345678
BRAKE (00000000)
SET AXIS(11110000)
ORIGIN :NOT DEF
<TOOL> 12345678
BRAKE (00000000)
SET AXIS(00000100)
ORIGIN :NOT DEF
<TOOL>
SET ORIGIN
OK?(1)
1:EXECUTE
<TOOL> 12345678
BRAKE (00000000)
SET AXIS (
00000100)
ORIGIN :COMPLETED
The J6-axis dose not have
a mechanical stopper.
When setting the origin
position , do not rotate the
axis more than themotion
range( ± 200 deg.).
CAUTION
Bolt (M5: 2 bolts)
J6 axis
ABS mark
Prepared by customer
◇◆◇ 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".