MITSUBISHI ELECTRIC Mitsubishi Industrial Robot RV-6S - Manual (Page 63)

5Maintenance and Inspection
Resetting the origin 5-53
5.5 Resetting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. The origin must be reset if the combination of robot and controller being used is
changed or if the motor is changed causing an encoder area. The types of origin setting methods are shown in
Table 5-8 .
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset
the origin using the jig method or ABS origin method.
.
Table 5-8 ： Origin setting method
Note) Although "OP setting" by the mechanical stopper method can also be selected, it is not recommended for
this robot. Please use one of the methods listed in Table 5-8 .
No Method Explanation Remarks
1 Origin data input
method The origin data set as the default is input from
the T/B. The setting method is explained in "2.3Setting the
origin" on page 12 .
2 Jig method The origin posture is set with the calibration jig
installed. The setting method is explained in "5.5.1Jig method" on
page 54 .
3 User origin method A randomly designated position is set as the
origin posture. Before using this method, the origin must be set with the
other method.
The setting method is explained in
"5.5.2User origin
method" on page 61 .
4 ABS origin method This method is used when the encoder backup
data lost in the cause such as battery cutting. Before using this method, the origin must be set with the
other method with same encoder. The setting method is
explained in
"5.5.3ABS origin method" on page 63 .