Abstract

Every time when you re-start the IML robot, it's very important to have the axis of the robotic arm back to the origin position. Here in this chapter you'll lean how to do the "ORG" of the IML robot before automatic running.

Toggle the knob in the upper left corner of the teach pendant to ORI, and the interface jumps to the origin screen:

No	Name	Function
(1)	Axis data	Origin: The upper light is on to indicate that the origin signal is triggered; The lower value represents the amount of origin raster, that is, the ratio of the distance traveled to the next Z signal (zero point) after the origin is triggered, and the distance travelled to the 1 lap pitch value. Limit: The light is on to indicate that the positive limit signal is triggered; Brake: The light is on to indicate that the brake has been released and the shaft can be operated; Position: The upper 0.00 value indicates the current position of the axis (after returning to the origin). The lower value of 0.0 indicates the current position of the encoder (0-one revolution pulse value). Torque: The value of the torque output in real time while the current shaft is running.
(2)	START key	Click to start the automatic return to origin action.

In origin ORG mode, press the START button to start origin reset.

X1	X2	X3	X4	Y	YM1	YM2	Z	L	W	H	Payload
740	640	140	415	1000	235	765	1650	2640	1500	1580	3kg

YM1

YM2

Payload

740

640

140

415

1000

235

765

1650

2640

1500

1580

3kg

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SWITEK IML Robot Operating Instruction -- 3.2 Origin Reversion

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