YASKAWA MH24 Operating And Maintenance Manual page 71

Maintenance and inspection
1. Position check
After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the second home
position using the axis keys and perform the position confirmation. For performing the
position confirmation, refer to chapter "Procedure after the Alarm". Playback and test
runs will not function unless "CONFIRM POSITION" is performed.
2. Pulse difference check
The pulse number at the second home position is compared with that at the current
position. If the difference is within the allowable range, playback is enabled. If not, the
alarm occurs again.
• The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
• The initial value of the second home position is the home position (where all axes are
at pulse 0). The second home position can be changed. For details, refer to chapter
"Procedure for the Second Home Position Setting (Check Point)".
3. Alarm Occurrence
If the alarm occurs again, there may be an error in the encoder communication related
components. Check the components. After adjusting the erroneous axis, calibrate the home
position of the axis, and then check the position again.
NOTICE
Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
Sometimes in a system with a robot that has no brake, it is possible to enable playback
without position checking after the alarm occurs. However, as a rule, always perform
"CONFIRM POSITION".
Under the above special conditions, the robot moves as follows:
 After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor.
 If it is stopped and restarted during this motion, the low speed setting is retained until
the step at cursor is reached. Regardless of cycle setting, the robot stops after the
cursor step is reached
 Starting the manipulator again then moves it at the programmed speed and cycle of the
JOB.
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