Home Position Return; Home Position Return After Motor Replacement; Home Position Return By Robot Calibration (Motocalv Eg); Home Position Return By Setting Teaching Point For Home Position Setting Before Motor Replacement - YASKAWA MOTOMAN-MH900 Maintenance Manual

MH900
2

Home Position Return

2.1

2.1.1 Home Position Return by Robot Calibration (MOTOCALV EG)

2.1.2 Home Position Return by Setting Teaching Point for Home Position Setting
2 Home Position Return

2.1 Home Position Return after Motor Replacement

Perform calibration and set the Manipulator position to
home in one of the following cases:
• The combination of the robot and the control unit is
changed.
• The motor or absolute encoder is replaced.
• Stored memory is cleared.
• The home position is deviated by hitting the robot against
a workpiece, etc.
• The main parts of the speed reducer, etc. are replaced or
disassembled and reassembled.
When performing calibration, be sure to satisfy the following
conditions:
• No external force is applied to the Manipulator.
• The tool and other loads on the wrist unit are removed.
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 (152646-1CD)
for details on the operation.
before Motor Replacement
The DX200 for the MH900 holds the position data of the job program
(hereinafter called JOB) as the pulse number from the home position of
each axis. Thus, by adjusting the home position precisely, the JOB used
before motor replacement can be used after the replacement without
correction.
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