Zeroing Procedure For R-Axis - YASKAWA MOTOMAN-MH50 Instructions Manual

MH50/MH50-35/MH80/
MS80 Zeroing

1.2.2.6 Zeroing Procedure for R-Axis

1 Zeroing Function
1.2 Details on Zeroing Function
Perform the zeroing operation for R-axis with the following procedure.
1. Remove the plug and cover from the attaching portion for the sensor.
R-axis
Be sure to remove the cover. If the zeroing operation is
NOTE
performed with the cover on, the sensor may be damaged.
The plug, cover, and cover mounting screws are small
NOTE
parts.
Be sure not to lose them during the operation.
Be sure that the servo power is OFF and no safety hazard
is around the manipulator when approaching the
NOTE
manipulator.
Injury may result from unintentional or unexpected
manipulator motion, or operation error.
2. Perform the home position alignment by adjusting the alignment marks
on the R-axis of the manipulator in the "TEACH" mode.
NOTE Be sure to adjust the home position alignment marks and
perform the zeroing operation.
Confirm that no persons are present in the P-point
maximum envelope of the manipulator and the operator in a
NOTE
safe place.
Injury may result from unintentional or unexpected
manipulator motion, or operation error.
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