Home Position Adjustment - YASKAWA MOTOMAN-HP20D Maintenance Manual

159281-1CD
HP20D

3.1.3.3 Home Position Adjustment

3 Home Position Return
3.1 Home Position Return after Motor Replacement
After motor replacement, move the axis to the position of the home
position mark. Perform the home position calibration only to the axis
whose motor was replaced.
(For more information, refer to "DX100 INSTRUCTIONS"
(manual No. RE-CTO-A215).)
Move the axis to the check-point by the check-JOB. (Be careful when
moving the axis so that the manipulator does not interfere with jigs.) Move
only the axis whose motor was replaced to correct the deviation from the
check-point created before calibration.
Display the position screen (COMMAND POSITION).
The values of the U-axis is shown below as an example.
By using the above values, calculate the amount of deviation. (Subtract
the CMD (command value) from the CURR (current value).)
CURR - CMD = the amount of deviation
U (-3067) - (-2989) = -78
Perform stepping back, etc. of the check JOB to move the axis whose
motor was replaced to the position where the axis will not interfere with
jigs when it moves to the home position. (Be careful when moving the
axis so that the manipulator does not interfere with jigs.) Refer to the
position screen, and move the axis to the pulse position equal to the
amount of deviation.
An example is shown below.
At this position, perform the home position calibration only for the axis
whose motor was replaced.
(For more information, refer to "DX100 INSTRUCTIONS"
(manual No. RE-CTO-A215).)
Move the axis again to the check-point by the check-JOB. Check if the
axis is at the check-point created before the operation. (If it is deviated,
repeat the adjustment procedures.)
Perform an operation check by using the JOB used before motor
replacement. If no problem is found, write down the modified home
position data (ABSO data) and the date in the label on the inside of the
DX100.
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