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3.1 Home Position Calibration
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and be
sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
- Always return the programming pendant to its hook on the XRC cabi-
net after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the
floor, the manipulator or a tool could collide with it during manipulator movement, possibly
causing injury or equipment damage.
3.1.1
Home Position Calibration
Teaching and playback are not possible before home position calibration is complete.
N OT E
In a system with two or more manipulators, the home position of all the manipulators must
be calibrated before starting teaching or playback.
Home position calibration is an operation in which the home position and encoder zero posi-
tion coincide. Although this operation is performed prior to shipment at the factory, the follow-
ing cases require this operation to be performed again.
• Change in the combination of the manipulator and XRC
• Replacement of the motor or encoder
• Clearing stored memory (by replacement of XCP01 board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, move the manipulator to the home position using the axis
keys. There are two operations for home position calibration:
• All the axes can be moved at the same time
• Axes can be moved individually
If the absolute data of the home position is already known, set the absolute data again after
completing home position registration.
C A U T I O N
3-2
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