4-29
CHAPTER 4 Adjustment
3-1 Adjusting the R-axis machine reference
The adjustment method for the R-axis machine reference is as follows.
1) Prepare the necessary tools.
• Hex wrench set
2) Check that no one is inside the safeguard enclosure and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) If any machine reference value displayed on the PB is not in the range
between 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.
5) Place a sign indicating that the robot is being adjusted in order to keep
others from operating the controller or operation panel.
6) Turn off the controller and enter the safeguard enclosure.
7) Mark off the reference mark at the current origin position on the R-axis
area of the robot.
At this time, be careful not to touch the tool at the tip of the robot arm so
that the origin position does not shift.
8) Use the hex wrench to loosen the two setscrews which fasten the dog ring
on the R-axis area. (See Fig. 4-7.)
9) Refer to Fig. 4-7 and Table 4-2 and turn the dog ring to the minimum
extent.
10) Tighten the setscrews to fasten the dog ring.
11) Go out of the safeguard enclosure, and check that no one is inside the
safeguard enclosure. Then turn on the controller.
12) Perform the absolute reset from outside the safeguard enclosure.
13) After the absolute reset is completed, read the machine reference value
displayed on the PB.
14) If the machine reference value is in the range between 40 and 60 (recom-
mended range), then the machine reference has been completely adjusted.
If it is outside the recommended range, then repeat the procedure that starts
in 5) to readjust it.
CAUTION
IT IS SUFFICIENT TO LOOSEN THEM. IT IS NOT NECESSARY TO
COMPLETELY REMOVE THEM.
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