YASKAWA MOTOMAN-HP20D Maintenance Manual page 21

159281-1CD
HP20D
Home position mark
3 Home Position Return
3.1 Home Position Return after Motor Replacement
Example of Check-Point Creation when Replacing U-Axis's
Motor of HP20D-A00
• The check-point cannot be created unless each axis operates. Thus,
the check-point cannot be created if the axis does not move because
of failure. Therefore, it is recommended to create the check-point for
each axis under normal operating conditions.
Next, check the home position of the axis whose motor will be
replaced. Refer to the position screen, and move the axis to the 0-
pulse position, the home position. Then, check the position of the
home position mark. If it is deviated, adjust it.
The U-axis of YR-HP0020D-A00 is shown below as an example.
Fig. 3-1: Preparation before Motor Replacement (Example)
3-3
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