7.4.2 Axis Origin

You can register the mechanical origin position of each axis.

1. Touch the [3: Robot Parameter > 2: Axis Origin] menu.

2. Register the mechanical origin position of each axis.

No.	Description
	Detailed information on the mechanical origin position of each axis. You can set the encoder and position of the axis. S-axis: You can change the S-axis origin depending on the installation situation of the robot and surrounding jig. R1-axis: You can change the origin of the R1- axis origin according to the tool attachment direction. H, V, R2, and B axes: Can be set automatically through the automatic calibration function
	[OK]: You can save the changes. [Apply One]: You can apply the selected origin position to the selected axis information. [Apply All]: You can apply the selected origin position to all axis information.

• The axis origin setting affects the accuracy of the robot’s cartesian operation. Change it to the exact value as much as possible.

• If the axis origin setting is changed, the position of the previously created program will be changed. Therefore, the axis origin setting must be executed only at the initial installation stage.

• If the encoder offset setting is changed, the axis origin should be newly set. Therefore, the encoder offset setting must be completed before the setting of the axis origin.

At the time of the shipping from the factory, the mechanical origin position of each axis is set at the standard value (0X400000).