Home Position Return After Motor Replacement; Home Position Return By Robot Calibration (Motocalv Eg); Home Position Return By Setting The Teaching Point For Home Position Setting Before Replacement - YASKAWA MOTOMAN-MH5S Maintenance Manual

MH5S (II) /MH5F
3.1

3.1.1 Home Position Return by Robot Calibration (MOTOCALV EG)

3.1.2 Home Position Return by Setting the Teaching Point for Home Position
3 Home Position Return

3.1 Home Position Return after Motor Replacement

Home Position Return after Motor Replacement
The MOTOCALV EG allows the home position reset by teaching the five-
point-in-five-posture.
Refer to "MOTOCALV EG for Windows Operator's Manual" (part number
152646-1CD) for details on the operation.
Setting before Replacement
The DX100/DX200/FS100 holds the position data of the job program
(hereinafter called as JOB) as the pulse number from the home position of
each axis. Stated differently, the precise adjustment of home position
allows use of the JOB, which had been used before the motor
replacement, without correction even after the motor replacement.
This section explains how to set the FS100.
Preparation before Replacement

• Refer to the Fig. 3-1 "Preparation before Replacement (Example)".
Before replacement, create the standard position (hereinafter called the
check-point) for home position adjustment after replacement. The check-
point must satisfy the conditions below. Furthermore, create the JOB so
that the manipulator safely moves to the check-point from the standby
position. (The JOB created in this manner will be hereinafter called the
check-JOB.)
The position should not be deviated by turning the power ON or OFF,
1
or lowering air pressure. Do not create the check point in the working
part of the tool (end effector) or the jigs (related unit including the rotary
table). It is recommended to use a specific jig if necessary.
Use pointed jigs to create the position so that the deviation is easily
2
found.
Keep a distance as long as possible from the rotational center of the
replacing axis.
Considering the moving direction of the replacing axis, create the
3
position at the point where any deviation is easily found and the axis will
not interfere with jigs even if it is deviated.
3-2
176183-1CD
HW1483638
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