Setting The Second Home Position (Check Point); Purpose Of Position Check Operation - YASKAWA MH5S II Operating And Maintenance Manual

9.7

Setting the second home position (check point)

9.7.1

Purpose of position check operation

If the absolute number of rotations detected when the power is switched on does not match
the data stored by the absolute encoder the last time the power was switched off, an error
message is output.
There are two possible causes of this error message:
• Error in the pulse generating system
• The robot was moved after the power supply was turned OFF
If the alarm "OUTSIDE THE RANGE (ABSOLUTE DATA)" appears, automatic mode is not
possible. The home position must be checked.
If the "OUT OF RANGE (ABSO DA-
1
TA)" alarm occurs:
Alarm reset
2
Switch the servo power on
3
Procedure after an alarm
4
Position confirmation
5
Maintenance and inspection
NOK
OK
Compare second home position
6
(check point)* with current position
pulses.
The alarm occurs again
7
Correct the faulty axis, replace the
8
pulse generating system, set the
home position
* Position checking point
9
Automatic mode possible
10
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