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[12]
Go to the regular Error screen, press [RESET] <F3> key, and then reset a
position detection error.
[13]
To reflect the data updated by this operation on the current position, turn OFF
the power to the controller and then turn it ON again.
[14]
Perform ZEROP operation (2.6.5).
2.6.5 ZEROP Operation
Perform this operation only when the mechanical robot's zero point position has deviated
by changing the motor or timing belt.
In regular ZEROP operation, the zero point position is determined using a dedicated jig
and then that position is set up as the zero point. In ZEROP operation after REORG
operation, the MOVEA instruction is executed directly with servo ON and, after moving the
axis for which REORG operation has been performed to the zero point position, that
position is then set up as the zero point. For more information about direct execution, refer
to Section 8 of the Operation manual.
This operation may cause a slight error depending on the adjustment method. It is
necessary to do teaching of the teaching point again in some cases.
•
When moving the robot by hand while the power is turned on, be sure to assure
the safe work and effect an emergency stop beforehand.
•
In the above situation, if the work is to be done while the axis 3 motor brake
OFF switch is pressed, be sure to perform the work by two (2) persons.
One person should carry out the work while the other is monitoring the work
outside the hazardous zone. The latter person should watch the work and be
ready to turn off the controller switch if any abnormality occurs. Once the
controller power is turned off, the motor brake actuates even if the axis 3 motor
brake OFF switch is kept pressed.
•
If the axis 3 motor brake OFF switch is pressed while the robot is carrying a
heavy workpiece, the axis 3 may drop suddenly. To avoid this, the customer
should take all necessary measures by themselves.
!
DANGER
48
MAINTENANCE MANUAL
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