Homing Method When The Robot-Axis Motor Battery Runs Out; With The Home Position Calibration Function For Restoration From The Battery Back Up; With The Return Keys (S-, L- And U-Axes Only) - YASKAWA MOTOMAN-MH5S Maintenance Manual

176183-1CD
MH5S (II) /MH5F
3.2
3.2.1 With the Home Position Calibration Function for Restoration from

3.2.2 With the Return Keys (S-, L- and U-axes only)

3 Home Position Return

3.2 Homing Method When the Robot-Axis Motor Battery Runs Out

Homing Method When the Robot-Axis Motor Battery
Runs Out
the Battery Back Up
This is the method to return the manipulator to its home position by
executing the "Backup alarm restoration" software on the programming
pendant after moving the manipulator close to its home position (within the
motor rotation).
The home position returned by this function updates the multi-turn data for
motor.
This is the method to return the manipulator to its home position by writing
down the difference of the pulse between the key position and the home
position, which is set when MOTOMAN is delivered, on the home position
label affixed inside of the DX100/DX200/FS100.
When the home position data disappears, move the manipulator to the
key position and set the position where the above mentioned difference of
the pulse is reflected in the key position as the home position.
 Calibration Operation
The parts in Table 3-1 "Parts List" is required for calibration. Prepare them
before calibration operation.
Table 3-1: Parts List
Name
Positioning pin (
6 dia.
(length: 50 mm or more)
1. S-axis Positioning
As shown in Fig. 3-3 "S-Axis Positioning", insert the positioning pin
(equivalent to
6 dia.
and perform positioning by using the programming pendant so that the
pin fits into the slot of the base.
Fig. 3-3: S-Axis Positioning
Qty.
) 3
-0.004
-0.012
-0.004 ) into the pin hole (
-0.012
Positioning pin
S head
Base
HW1483638
3-7
Remark
For S-,L- and U-axes
+0.012 ) on the S-head
6 dia.
0
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