DR_Setting_the_Absolute_Offset

8/7/2019 DR_Setting_the_Absolute_Offset

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Additional Information 1

Setting the Absolute OffsetAn absolute encoder is fixed to each motor to detect the position of the manipulator. When the manipulator is assembled,

the attitude computed from the values of the encoders does not coincide with the actual attitude.

As the difference between these attitudes varies from manipulator to manipulator, it must be computed and set as the

absolute offset.This chapter describes the procedures for setting an absolute offset and also for resetting the encoders, which is required

prior to that operation.

WARNING

Perform the absolute offset setting operation only in the following cases- After the manipulator and the robot control unit have been property installed, the Task program P999 does not

provide the position where all the origin alignment marks are in alignment.

- When the following errors have occurred:

- When the encoder as been changed or a connector disconnected from the encoder.

- When a connector has been disconnected from the charging battery equipped inside the manipulator.

Operation 1Resetting the Encoders

Be sure to reset the encoders before you set an absolute offset.

Otherwise, "A 11103-XXXX (ABSO DATA OUT)" occurs.

Move the mechanism by manual manipulation to

align the alignment marks of each axis.

Refer to Page 5 for the axis alignment marks of each

manipulator.

Press key at the top layer of Teach mode.

Press F4 key (SYS.SET).

CAUTION

Do not use the F2, F3 and F4 keys

F2 key (RESTART), F3 key (MASTRNG), and F4 key (CONTROL) are to be used by DAIHENservicemen only. Therefore, do not use them.

-ABSO ERRORRESET

-ABS DATA OUTRESET

PARMTER CHECK MANAGE SYS.SET MEMORY >

ABSO RESTART MSTRING CONTROL MANUAL >


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Press F1 key (ABSO).

Press key.

Press F1 key (ABS RST).

To reset the encoders, press F1 key (CONFIRM).

The servo power is then turned off.

If you want to cancel the resetting operation,

press key instead.

When the encoders have been reset, an alarm

sounds and the right screen is displayed.

Turn off the control power.

The encoder resetting has been finished.

Next, you must set the absolute offset.

SELECT MECHANISMABSO OFFSET SETTING

MECH.1 MECH.2 MECH.3 MECH.4 MECH.5>

ABS RST

ENCODERS OF ALL AXES WILL BE RESET.

SERVO POWER WILL TURN OFF.

CONFIRM

ENCODER RESET COMPLETED.

ABSO OFFSET ADJUSTMENT OF ALL MECHANISMSSHOULD BE DONE,AFTER CONTROL POWER RETURNING ON.


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Operation 2Setting the Absolute Offset

Turn on the control power.

ABSO ERROR (A 50601-0100) is displayed duringinitial diagnosis.

Press key to reset this error.

Turn on the servo power.

Press key at the top layer of Teach mode.

Press F4 (SYS.SET).

CAUTION

Do not use the F2, F3 and F4 keysF2 key (RESTART), F3 key (MASTRNG), and F4 key (CONTROL) are to be used by DAIHEN servicemen

only. Therefore, do not use them.

Press F1 key (ABSO).

Select the mechanism by the function key:

F1 ... Sets ABSO for Mechanism 1.





When you have selected the mechanism, the

screen looks like the one shown on the right.

Confirm whether the alignment marks are matched.

If not, move the selected mechanism by manual

manipulation to align the alignment marksof each axis.

THANK YOU FOR WAKING ME UP!A 50601-0100THIS IS DR CONTROL ABSO ERRORSTART DIAGNOSIS RESET1,2,3,4,5

PARMTER CHECK MANAGE SYS.SET MEMORY >

ABSO RESTART MSTRING CONTROL MANUAL >

SELECT MECHANISMABSO OFFSET SETTING

MECH.1 MECH.2 MECH.3 MECH.4 MECH.5>

ABSO OFFSET SETTING

MECHA 1

1.ADJUST ORIGINGMARKS MANUALLY2.PUSH F1 KEYCONFIRM


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Fig. 6. 1 Alignment Marks Positions (for Model DR-3000/-3200 Manipulator)

Axis 4 alignment mark






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Fig. 6. 2 Alignment Marks Positions (for Model DR-4000/-4200/-4200L/-4300/-4800/-4900 Manipulator)








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Fig. 6. 3 Alignment Marks Positions (for Model DR-603 Manipulator)

Axis 4 alignment mark Axis 3 alignment mark






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Fig. 6. 4 Alignment Marks Positions (for Model DR-503S/-503P Manipulator)

Axis 5

alignment mark

Axis 4

alignment mark

Axis 3

alignment mark

Axis 6

alignment mark

Axis 2

alignment mark

Axis 1

alignment mark

DR_Setting_the_Absolute_Offset

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