■Setting the Absolute Offset

An 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:

A 50601-XXXX A 11103-XXXX
ABSO ERROR ABS DATA OUT
→RESET →RESET

- 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 1】Resetting the Encoders

Be sure to reset the encoders before you set an absolute offset.
Otherwise, "A 11103-XXXX (ABSO DATA OUT)" occurs.

１ 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.

２ Press key at the top layer of Teach mode.

PARMTER CHECK MANAGE SYS.SET MEMORY >

３ Press F4 key (SYS.SET).

ABSO RESTART MSTRING CONTROL MANUAL >

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 DAIHEN
servicemen only. Therefore, do not use them.

Additional Information 1
４ Press F1 key (ABSO). SELECT MECHANISM
ABSO OFFSET SETTING

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

５ Press key.
ABS RST

６ Press F1 key (ABS RST). ENCODERS OF ALL AXES WILL BE RESET.

SERVO POWER WILL TURN OFF.

CONFIRM

７ 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.
ＲＥＳＥＴ

８ When the encoders have been

ENCODER reset,
RESET COMPLETED. an alarm
sounds and the right screen is displayed.
ABSO OFFSET ADJUSTMENT OF ALL MECHANISMS
SHOULD BE DONE,
AFTER CONTROL POWER RETURNING ON.
Turn off the control power.

The encoder resetting has been finished.

Next, you must set the absolute offset.

Additional Information 2
【Operation 2】Setting the Absolute Offset
１ Turn on the control power. THANK YOU FOR WAKING ME UP! A 50601-0100
THIS IS DR CONTROL ABSO ERROR
START DIAGNOSIS →RESET
1,2,3,4,5

ABSO ERROR (A 50601-0100) is displayed during

initial diagnosis.

Press key to reset this error.

ＲＥＳＥＴ

２ Turn on the servo power.

３ Press key at the top layer of Teach mode.

PARMTER CHECK MANAGE SYS.SET MEMORY >

４ Press F4 (SYS.SET).
ABSO RESTART MSTRING CONTROL MANUAL >

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 DAIHEN servicemen
only. Therefore, do not use them.

５ Press F1 key (ABSO). SELECT MECHANISM

ABSO OFFSET SETTING

６ Select the mechanism by the function key:

F1 ... Sets ABSO for Mechanism 1.

F2 ... Sets ABSO for Mechanism 2. MECH.1 MECH.2 MECH.3 MECH.4 MECH.5 >
F3 ... Sets ABSO for Mechanism 3.
F4 ... Sets ABSO for Mechanism 4.
F5 ... Sets ABSO for Mechanism 5.

７ When you have selectedABSO OFFSETthe

SETTING mechanism, the
screen looks like the one shown on the right.

MECHA 1
８ Confirm whether the alignment marks are matched. 1.ADJUST ORIGINGMARKS MANUALLY
2.PUSH F1 KEY
If not, move the selected CONFIRM mechanism by manual
manipulation to align the alignment marks
of each axis.

Additional Information 3
９ Press F1 key (CONFIRM). ABSO OFFSET ISThen,
ON ADJUSTINGRobot control
starts arithmetic operation to compute the
absolute offset.
MECHA 1

10 When the arithmetic MARGIN VALUES OF

operation is EACH AXIS.
complete, the
margin of each axis is displayed. MECHA 1

1 49 2 62 3 49
Each margin is adjusted to be around 50. 4 55 5 43 6 51

END RETRY
When each margin is around 50
Push F1 key (END) to terminate the absolute
offset setting operation.

If your system consists of more than one

mechanism (for example, including a slider
and/or a positioner), perform steps ６ through
９ for each mechanism.

When each margin is 100, 200 or inappropriate value

As the absolute offset values are not correct,
you must set again.

(1) Push F2 key (RETRY).

ABSO OFFSET IS NOT SET

SET ABSO OFFSET AGAIN.

CONFIRM

(2) Push F1 key (CONFIRM). SELECT MECHANISM

ABSO OFFSET SETTING
Select the mechanism by the function key,
and be sure to perform an absolute offset
setting operation.

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

IMPORTANT
About the margin value
Each margin is adjusted around 50. Be sure to set absolute offset setting again in the following cases:
- When each margin is too far from the optimum value:
Improper values may have been set.

- When each margin is 100 or 200:

The absolute offset has not been computed.

Additional Information 4
 Axis 2 alignment mark

Axis 1 alignment mark

Axis 3 alignment mark

Axis 5 alignment mark

Axis 4 alignment mark

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

Additional Information 5
 Axis 4 alignment mark

Axis 6 alignment mark

Axis 5 alignment mark

Axis 1 alignment mark

Axis 3 alignment mark

Axis 2 alignment mark

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

Additional Information 6
 Axis 4 alignment mark Axis 3 alignment mark

Axis 5 alignment mark

Axis 6 alignment mark

Axis 2 alignment mark

Axis 1 alignment mark

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

Additional Information 7
 Axis 5 Axis 4
alignment mark alignment mark

Axis 6
alignment mark

Axis 3
alignment mark

Axis 2
alignment mark
Axis 1
alignment mark

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

Additional Information 8