6.4. Encoder Zero Setting
6.4. Encoder Zero Setting
It is necessary to reset the origin when encoder data has been corrupted due to some problems and when the motor is replaced.
Scale is used to determine the standard posture and position of each axis of the robot. Considering that there must be structural interference with the wrist axis, the zero must be set in the order of Axis 4, Axis 5 and Axis 6.
Warning
In this work, there is a part performing in the state of motor [ON]. Therefore, this work must be performed in pairs. One must always be ready to activate an emergency stop. The other must perform the work quickly but carefully.
An escape route should be determined before starting work.