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c)
Setting of new home position data (To be set through teach pendant.)
•
ZEROP operation seriously affects the current position of the robot, it is
always protected. Please do not release the protection except when setting
up the zero point position.
Be sure to set the home point in the order of E4 → E3 because E3 (axis 3)
Caution:
and E4 (axis 4) of the SCARA robot are interlocked with each other.
1)
Select the TEACHING mode by means of the master mode switch.
2)
Press the "UTILITY" key equipped on the teach pendant.
3)
Press the "NEXT" key on the teach pendant twice.
4)
Turn off the servo power.
5)
Press the <F3> key on the teach pendant to select the ZEROP mode.
6)
The following home point setting screen is called.
The unit of each axis position is "×10
"E1 –75000" below signifies that the axis 1 is positioned at –7.5000 [deg].
Z E R O
7)
Press the "ALT" and "0" keys on the teach pendant.
8)
When the "EXE" key on the teaching pendant is pressed, the numeric value of E1
as shown in the lower left below appears. Setting this value to 0 and pressing the
"EXE" key will set the value of E1 to 0.
If it is not possible to align with the zero point alignment mark, enter the
coordinate values recorded in advance.
!
CAUTION
–4
P O S I T O N
E 1 :
– 7 5 0 0 0
E 2 :
1 3 9 9 8 0 0
E 3 :
5 8 0 9
E 4 :
2 9 0 0 0 0
E 5 :
51
MAINTENANCE MANUAL
[deg], [mm]". For example, the value of
0
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