YASKAWA MH180 Operating And Maintenance Manual page 79

Maintenance and inspection
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 robot 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 robot again then moves it at the programmed speed and cycle of the JOB.
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