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4-18
CHAPTER 4 Adjustment
3-4 Adjusting the machine reference
!
CAUTION
If any machine reference is adjusted, the origin position may change.
Before the adjustment, mark off the reference mark at the current origin posi-
tion on the main body of the robot.
After the machine reference is adjusted, be sure to check that the origin posi-
tion has not deviated.
If the origin position changes after the machine reference has been adjusted,
then the standard coordinate and point data must be reset.
!
CAUTION
When the arm moves at high speed and strikes against a mechanical stopper
violently, the machine reference value may change. If this has happened, check
the machine reference value. Also check the mechanical stopper for any dam-
age and the origin position for shift. If the machine reference value is outside
the recommended range, adjust the machine reference. In this case, re-teach-
ing may be required if the origin position has shifted.