Chapter 4 Configuring the Joint Parameters
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(4) Checking the wiring
(4-1) Checking the brake wiring
If the motor has a brake, release the brake and check that the brake of all joints will
be released. For the brake releasing procedure, refer to Section 4.8.2 "Releasing or
locking brakes."
(4-2) Checking the encoder wiring
After releasing the brake of the motor, apply external force to the motor and check
that the data of the joint corresponding to the motor will change in the Current Robot
Position window of the teach pendant.
(4-3) Checking the motor wiring
Turn the motor on, set the motor speed at SP10, and check that you may drive the
joint manually in Joint mode.
If the motor vibrates abnormally or stops due to any error, check the wiring of the
motor. If the wiring is correct, gradually decrease the positional loop gain and speed
proportional gain of the servo configuration parameters.
(5) Executing CALSET
Release the brake of the motor and move the optional mechanism connected to the
motor to the CALSET reference position. Then execute CALSET in the CALSET
reference position, referring to Section 4.8.1 "Performing CALSET Operation on Each
Joint."
NOTE: Take care not to perform CALSET on any robot joint
. Performing it on
a robot joint will change the reference angle of the robot..
(6) Checking the motion of the mechanism connected to the joint motor
Run the mechanism connected to the motor manually in Joint mode and check that
an error will be detected if the mechanism exceeds the positive or negative motion
limit.
Also check that the actual movement amount matches the values displayed in the
Current Robot Position window of the teach pendant. If not, check the gear ratio and
lead.
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