Procedure For The Second Home Position Setting - YASKAWA MA2010 Operating And Maintenance Instructions Manual

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. Automatic mode, test runs and
FWD movement cannot be performed without checking the position with "CONFIRM
POSITION".
Pulse difference check
The pulse number at the second home position is compared with that at the current position.
If the deviation is within the allowable range, automatic operation can be performed.
If not, the alarm occurs again.
NOTICE
 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 further information, refer to
9.5.2 "Procedure for the second home position setting" on page73.
Alarm messages
If the alarm occurs again, there may be an error in the pulse generator system. Check the
pulse generator system. After adjusting the faulty axis, calibrate the home position of the
axis, then check the position again.
NOTICE
Home position calibration of all axes at the same time enables automatic mode without to
checking position.
However, as a rule, always perform "CONFIRM POSITION". Under the above special
conditions, the robot moves as follows:
 After the start, the robot moves at low speed (1/10 of the maximum speed) to the step
indicated by the cursor. If the robot stops and restarts during this motion, speed is
retained until wanted step at cursor is reached.
 Regardless of cycle setting, the robot stops after reaching cursor indicated step.
Starting the Robot again then moves it at the programmed speed and cycle of the job.
9.5.2

Procedure for the second home position setting

Apart from the "home position" of the robot, the second home position can be set up as a
check point for absolute data. Use the following steps to set the specified point.
NOTICE
If 2 or more Robots or stations are controlled by one controller, the second home position
must be set for each robot or station.
Maintenance and inspection
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9 73