4-12
CHAPTER 4 Adjustment
8) After moving the robot to a position for absolute reset, check that the gure
of the selected axis displayed on the PB screen is within 26 to 74 and press
the ENTER key.
9) A message "Reset ABS encoder OK?" appears, so press the F4 (YES) key
if okay to reset at that position.
10) Go outside the safeguard enclosure.
11) Check that no one is inside the safeguard enclosure and then release the
emergency stop button on the controller.
CAUTION
THERE ARE SEVERAL DISPERSED POSITIONS WHERE ABSOLUTE
RESET CAN BE PERFORMED. MOVE THE ROBOT A LITTLE BIT AT A
TIME WHILE VIEWING THE PB SCREEN SO THAT THE ORIGIN
POSITION MARKS MATCH EACH OTHER. THEN PRESS THE ENTER KEY
AT A POSITION WHERE THE SELECTED AXIS FIGURE IS BETWEEN 26
AND 74 ON THE PB SCREEN.
CAUTION
IF THE SELECTED AXIS DOES NOT SHOW A FIGURE BETWEEN 26 AND
74, THEN AN ERROR MESSAGE, "ABS.RESET POSITION ERROR"
APPEARS DURING THE NEXT STEP AND ABSOLUTE RESET IS
DISABLED.
CAUTION
IF "ALL" WAS SELECTED IN 6) THEN THE X-AXIS, Y-AXIS OR R-AXIS
CAN BE RESET IN SERVO-OFF. HOWEVER THE SERVO MUST BE ON
WHEN PERFORMING ABSOLUTE RESET OF THE Z-AXIS. SEE "3-3-2-1
ABSOLUTE RESET WITH SERVO ON (RE-RESET)" FOR INFORMATION
ON HOW TO PERFORM Z-AXIS ABSOLUTE RESET.
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