Positions For The Reset Sensor - YASKAWA MH24 Operating And Maintenance Manual

Maintenance and inspection
14. The message confirming the resetting of the axis (S-axis in the example) appears on
the screen of the programming pendant. The calculated absolute data are then
displayed.
15. Switch off the SERVO power.
16. Switch off the YasXzero amplifier.
17. Disconnect the connecting cable from the sensor.
18. Remove the sensor from the robot.
19. Mount the locking device of the sensor opening and the cover on the robot.
20. Check the position of the robot. Press <MAIN MENU> → <SECOND HOME
POSITION> → <ROBOT>.
The window SECOND HOME POSITION opens.
21. Leave the movement area of the robot and ensure that nobody is standing in this area.
22. Switch on the SERVO power. To this effect, press <SERVO ON READY> and the on-
off switch on the programming pendant.
23. Press <FWD> to move the TCP in the second home position.
24. Check if the second home position deviates from your required position.
25. Press <MAIN MENU> → <CONFIRM POSITION> → <DATA>.
A message "Home position checked" appears.
26. Check the home position with a Teach operation before starting automatic operation in
playback. To this effect, check the following points:
-Are there deviations from the second home position of the robot?
-Are there position deviations at one or several points?
-Are there irregularities during the test drive?
NOTICE
The home position must be checked before starting automatic operation.
If during the reset a wrong home position is entered, this can cause the robot to malfunction
during operation.
9.7.4
In the following drawings, the positions at which the reset sensors are mounted will be
illustrated on the corresponding robots. The letters correspond to designations of the axis.

Positions for the reset sensor

XXXXXXXX
-
9 81