Setting The Second Home Position (Check Point); Purpose Of Position Check Operation - YASKAWA MH24 Operating And Maintenance Manual

Maintenance and inspection
9.6
9.6.1
If the absolute number of rotation detected at power supply ON does not match the data
stored in the absolute encoder the last time the power supply was turned off, alarm 4107
"OUT OF RANGE (ABSO DATA)" is issued when the controller power is turned ON.
There are two possible causes of this alarm:
• An error was found in the encoder communication related components.
• No error was found in the encoder communication related components, but the robot
was moved after the power supply was turned OFF.
If there is an error in the encoder communication related components, the robot may stall
when playback is started. If the absolute data allowable range error alarm has occurred,
playback and test runs will not function and the position must be checked.
1 If the "OUT OF RANGE (ABSO DATA)" alarm occurs:
2 Reset alarm
3 Turn ON SERVO power
4
Procedure after alarm occurs
5 Position confirmation operation
6
Compare second home position (check point)* with current position pulses.
7 Alarm occurs again
8 Correct defective axis
• Replace encoder communication related components
• Home position calibration
9 * Position checking point
Playback possible
10
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9 70

Setting the second home position (check point)

Purpose of position check operation

NOK
OK