Home Position Return - YASKAWA MOTOMAN-MH5S Maintenance Manual

176183-1CD
MH5S (II) /MH5F
3

Home Position Return

3 Home Position Return
In the following cases, perform calibration and set the
manipulator geometrical position.
• Change in the combination of the MOTOMAN and the
control unit
• Replacement of the motor or encoder
• Clearing stored memory
• Home position deviation caused by hitting the MOTOMAN
against a workpiece, etc.
NOTE
• Replacement, disassembly, and reassembly of the main
parts such as speed reducers etc.
Before the calibration, be sure that the manipulator satisfies
the following conditions.
• No external force is exerted on the manipulator.
The hand and other parts attached to the wrist unit are
removed.
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