Home Position Return By Setting Teaching Point For Home Position Setting Before Motor Replacement; Preparation Before Motor Replacement - YASKAWA MOTOMAN-HP20D Maintenance Manual

HP20D
3.1.3 Home Position Return by Setting Teaching Point for Home Position Setting

3.1.3.1 Preparation before Motor Replacement

3 Home Position Return
3.1 Home Position Return after Motor Replacement
before Motor Replacement
The DX100 holds the position data of the job program (hereinafter called
JOB) as the pulse number from the home position of each axis. Thus, by
adjusting the home position precisely, the JOB used before motor
replacement can be used after the replacement without correction.
This section explains how to set the DX100.
• Refer to the Fig. 3-1 "Preparation before Motor Replacement
(Example)".
Before motor replacement, create the standard position (hereinafter called
the check-point) for home position adjustment after the replacement. The
check-point must satisfy the conditions below. Furthermore, create the
JOB so that the manipulator safely moves to the check-point from the
standby position. (The JOB created in this manner will be hereinafter
called the check-JOB.)
The position should not be deviated by turning the power ON or OFF,
1
or lowering air pressure. Do not create the check point in the working
part of the tool (end effecter) or the jigs (related unit including the rotary
table). It is recommended to use a specific jig if necessary.
Use pointed jigs to create the position so that the deviation is easily
2
found.
Keep a distance as long as possible from the rotational center of the
replacing axis.
Considering the moving direction of the replacing axis, create the
3
position at the point where any deviation is easily found and the axis will
not interfere with jigs even if it is deviated.
3-2
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