Home Position Return In Case Of Exhaustion Of Robot-Axis Motor Battery; Home Position Return At The Time Of Battery Backup By Using The Function: Home Position Calibration Function For Restoration; Home Position Return By Keys (For S-, L-, U-, And R-Axes); Calibration Operation - YASKAWA MOTOMAN-HP20D Maintenance Manual

HP20D
3.2
3.2.1 Home Position Return at the Time of Battery Backup by Using the

3.2.2 Home Position Return by Keys (for S-, L-, U-, and R-Axes)

3.2.2.1 Calibration Operation


3 Home Position Return
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor
Battery

Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery

Function: Home Position Calibration Function for Restoration
To start the home position calibration function for restoration, move the
manipulator to the posture close to the home position (within one motor
rotation), then execute the software program "Backup alarm restoration"
on the programming pendant.
The home position return by this function updates the multi-turn data for
motor.
To enable the home position return by using keys, write down the
differential pulse between the key position and the default home position
on the home position label on the inside of the DX100.
If the home position data disappears, move the manipulator to the key
position. Then, as the home position, set the position where the above
differential pulse is added to the key position.
The parts in Table 3-1 "Parts List"are required for calibration. Prepare
them before calibration operation.
Table 3-1: Parts List
Drawing No. Name
SFJW6-100 Shaft
SFJW4-100 Shaft
S-Axis Positioning
As shown in Fig. 3-3 "S-Axis Positioning", insert the shaft SFJW6-100 in
the hole ( ) on the S-head. Then, perform positioning with the
+0.012
.
6 dia
0
programming pendant so that the shaft fits into the hole on the base.
Fig. 3-3: S-Axis Positioning
3-6
Qty. Remark
1 For S-, L-, and U-
axes
1 For R-axis
S-head
Shaft
Base
HW1480357
159281-1CD
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