How To Reconfigure The Torque Sensor Home Position - YASKAWA YRC1000micro Collaborative Operation Instructions

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5.2. How to Reconfigure the Torque Sensor Home Position

(1) Put the manipulator into such a posture that theoretically no gravity torque acts on the axis you
want to adjust.
For example, the posture where no torque acts on any axis is a posture without a tool, as shown
below.
The figure at left shows the home position posture while the figure at right shows the posture with
the U-axis moved 180° from the home position posture.
Note: If 1926 (TRQ SENSOR RECEIVING ERROR) occurs, the alarm will not be automatically
cleared after you reconfigure the home position. To clear the alarm, refer to "7 Alarm List".
(2) Put the controller into Safety Mode and select {SAFETY FUNC.} - {TORQUE SENSOR ORG
POS}.
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