Adjusting the Air Pressure Balance of the Z-Axis (For 4-axis Robots)

Key

[AUX] (Effective in Manual mode)

Operation

HM standard type robot adjusts the air pressure.

H* series robots except HM standard type and XR robots do Gravity Offset Compensation. (Ver.2.2.* or higher)

HM Standard Type Robot

1

Press [AUX] to call up the "Aux. Function" menu shown below.

2

Vertically scroll the screen with the up and down cursor keys to choose the "ArmAux"

3

Press [OK]. The "ArmAux" window appears.

Press [Cancel] to abort adjusting the air pressure balance of the Z-axis.

4

If you choose "Z-Balance" and press [OK], then the "Z-Balance" window appears as shown below.

To abort setting, press [CANCEL].

Adjust the air pressure balance so that the indicator line comes within the OK range of the gauge.

5

Press [OK]. The following screen will appear.

6

Press [OK] or [CANCEL] to complete the air balance adjustment procedure.

H* Series Robots (except HM Standard Type ) or XR Robot (Ver.2.2.* or higher)

Follow the same procedure as HM standard type robot by Step 3.

4

Select "Z-Balance" and press [OK]. "Execute GrvOffset?" appears.

5

Confirm the following notes and press [OK].

• Turn ON Motor.
• The robot fully stops.
• The robot can be moved by external force; that may result in the error.

6

Once Gravity Offset Compensation completed, a message will appear. Press [OK] to complete the air balance adjustment procedure.