4-22
CHAPTER 4 Adjustment
3-3-3 Stroke end method (Z-axis)
The operation procedure using the PB is described next. (Press the ESC key on
the PB if you want to return to the preceding step.)
See the "OMRON Robot Controller User's Manual" for information on operat-
ing the robot controller.
1) Check that no one is inside the safeguard enclosure and then turn on the
controller.
2) Place a sign indicating the robot is being adjusted, to keep others from
touching the controller switch or operation panel.
3) Set the controller to MANUAL mode, if not in MANUAL mode.
4) Press the F13 (LOWER+F3) key to select "RST. ABS".3-4
5) Select M3 (Z-axis).
6) Since the message "Reset ABS encoder OK?" is displayed, check that there
are not any obstacles in the robot movement range, and press the F4 key
(YES).
7) After the absolute reset is completed, check that the machine reference
value displayed on the PB is within the absolute reset tolerance range (26
to 74).
If the machine reference value is outside the absolute reset tolerance range,
then the next absolute reset may not be properly performed.
In this case, refer to "Chapter 4, 3-4 Changing the origin position and ad-
justing the machine reference" and make the necessary adjustments.
WARNING
SERIOUS INJURY MIGHT OCCUR FROM PHYSICAL CONTACT WITH
THE ROBOT DURING OPERATION.
NEVER ENTER WITHIN THE ROBOT MOVEMENT RANGE DURING
ABSOLUTE RESET.
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