Calibrating Operation; Registering All Axes At On Time - YASKAWA Motoman UP6 Instructions Manual

Home Position
S U P P L E -
M E N T
The home position is the pulse value "0" for each axis. The relative values between the
home position and the geometry position are set to parameters. The relative values are
specified as an angle in units of 1/1000°, and vary for different manipulator types. See "
3.1.3 Home Position of the Robot ".
3.1.2

Calibrating Operation

"

Registering All Axes at On Time

Operation
Select {ROBOT} under the top menu
PLAY} under the menu
*3
the menu Select {SELECT ALL AXES}
Explanation
*1
The home position calibration display is shown.
*2
The pull down menu appears.
Select {HOME POSITION}
*2
Select the desired control group
D A T A
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
!
D A T A E D I T
H O M E P O S I T I O N I N G
SELECT
R1:S
L
U
R
B
T
!
3.1 Home Position Calibration
*4
Select "YES"
DISPLAY UTILITY
L
R1
C S
ABSOLUTE DATA
*
*
*
*
*
*
D I S P L A Y U T I L I T Y
D I S P L A Y
L
R O B O T 1
R O B O T 1 R1
C S
S T A T I O N 1
ABSOLUTE DATA
*
*
*
*
*
*
3-3
*1
Select {DIS-
Select {EDIT} under
*5