YASKAWA MH50II Operating And Maintenance Manual page 75

2. Select {SECOND HOME POS} from the main menu.
The SECOND HOME POS window appears.
3. Press the „page key"
control group.
Occuring two or more group axes, select those one to you intend to specify second
home position.
4. Press {FWD}.
TCP moves to the second home position. The robot moving speed is set as selected
manual speed.
5. Select {DATA} in the menu.
6. Select {CONFIRM POSITION}.
A message "Home position checked" appears.
Pulse data of the second home position and current pulse data should be compared.
Automatic mode can be done if compared error is in allowed range.
If the error is beyond the allowed range, the alarm occurs again.
or select {PAGE} to display the selection window for the
Maintenance and inspection
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