YASKAWA MOTOMAN-HP20D Maintenance Manual page 25

159281-1CD
HP20D


3 Home Position Return
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor
Battery
L-Axis Positioning
As shown in Fig. 3-4 "L-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 L-arm.
Fig. 3-4: L-Axis Positioning
L-arm
U-Axis Positioning
As shown in Fig. 3-5 "U-Axis Positioning", insert the shaft SFJW6-100 in
the hole ( ) on the casing. Then, perform positioning with the
+0.012
.
6 dia
0
programming pendant so that the shaft fits into the hole on the L-arm.
Fig. 3-5: U-Axis Positioning
L-arm
3-7
Shaft
S-head
Casing
Shaft
HW1480357
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