YASKAWA MOTOMAN-MH5S Maintenance Manual page 23

176183-1CD
MH5S (II) /MH5F
3 Home Position Return
3.1 Home Position Return after Motor Replacement
 Home Position Adjustment
After replacement, move the replaced axis to the position of the home
position mark. Perform the home position alignment only to the replaced
axis.
(For more detailed information, refer to the "DX100/DX200/FS100
INSTRUCTIONS".)
Move the axis to the check-point by the check-JOB. (Be careful when
moving the axis so that the manipulator may not interfere with jigs.) Move
only the replaced axis to adjust the deviation from the check-point created
before alignment.
Display the position screen (command value).
The following figure shows the position screen for U-axis.
Command position
S: 007
[COMMAND]
R1: S
L
U
R
B
T
Using the above values, calculate the amount of deviation. (Subtract the
command value from the present value.)
Present value - Command value = the amount of deviation
U (-3067) - (-2989) = -78
Perform stepping back, etc. of the check JOB and move the replaced axis
to the position where the replaced axis will not interfere with jigs when it
moves to the home position. (Be careful when moving the axis so that the
manipulator may not interfere with jigs.) Use the position screen and
move the replaced axis to the pulse position equal to the amount of
deviation.
Refer to the example below:
Command position
S: 007
[COMMAND]
R1: S
L
U
R
B
T
R1
INTR: LINK SPEED: 25.00%
TOOL: 0 [CURRENT]
3458 R1: S
5638 L
-2989 U
80 R
-10754 B
-10 T
R1
INTR: LINK SPEED: 25.00%
TOOL: 0 [CURRENT]
58 R1: S
0 L
0 U
0 R
-11700 B
0 T
HW1483638
3-5
TOOL: 0
3458
5638
-3067
80
-10754
-10
TOOL: 0
58
0
-78
0
-11700
0
23 of 99