1.5.2.1 Torque sensor offset

1. After recording and modifying the step positions, run the program, and move the robot axes to a position that does not allow them to be affected by gravity.

In recovery mode, move each axis with the jog if a stop occurs because of a safety function violation. For more details on recovery mode, see “1.10.5 Recovery mode.”

For more details on step position recording and modification, see “2.3.2 Step position recording and modification” of the “Operation Manual for Hi6 Controllers.”

2. Click the [Favorites] button on the bottom right part of the Hi6 teach pendant window, enter “314” in the input box of the favorites window, and click the [OK] button.

[Caution]

• In Engineer Mode, the engineer mode icon () will blink on the status bar.
• Be careful as a wrong setting in Engineer Mode may lead to a severe problem in the robot system.

3. Click the [Set up] button > [3: Robot parameter > 8: Torque sensor offset] menu.

4. Check the position of each axis, click the [Reset one] or [Reset all] button, and observe whether the torque sensor offset value has been changed.

• To set the torque sensor offset of an axis, click the [Reset one] button.

• To set the torque sensor offsets of all the axes, click the [Reset all] button.

5. Check if the corrected torque sensor data value is close to 0, and save it by clicking the [OK] button.

6. Reboot the system.