9-5
9
OPERATING THE ROBOT
9-1 Performing Return-to-Origin
7) When you press
after moving the robot to
the mark position by the teaching playback
method or direct teaching method, the screen
changes to allow entering the coordinate val-
ues for the mark position.
While checking the robot stays at the mark po-
sition, use the number keys to enter the coordi-
nate values that you want the controller to rec-
ognize as the current position, and then press
.
[ORG-MARK-TCH]
input mark position
[
_
][mm]
[ORG-MARK-TCH]
cannot set origin
as bad machine ref.
[ORG-MARK-TCH]
ORG mark OK?
1yes 2no
[ORG-MARK-TCH]
origin complete
8) Press
F1
(yes) to set the origin. To cancel,
press
F2
(no).
9) If the machine reference is not in a range from
25 to 75%, the message at the right appears in-
forming you that the origin cannot be set. In
this case, press
ESC
and retry the above pro-
cedure.
10)When the origin has been set correctly, the
message at the right appears. Pressing the
ESC
key returns to step 4 when the teaching play-
back method was used or to step 6 when the
direct teaching method was used.
n
NOTE
When you check the robot position after setting the mark position coordinates, the robot position is not always at
the coordinates specified as the mark position. This is because the mark position is synchronized to prevent
positional shift and make an exact match when the motor's electrical angle is "0".
When the motor's electrical angle is "0", the machine reference is just 50%. This means that as the machine
reference deviates from 50%, the robot position moves away from the coordinates specified as the mark position.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot movement speed is limited to 10mm/s or less (10deg/s for rotary robots) in "SERVICE mode state"
when the robot movement speed limit is enabled.
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