Zeroing Function (Optional); Connection Diagram - YASKAWA MH180 Operating And Maintenance Manual

Maintenance and inspection
9.8
The zero setting function (optional function) enables the automatic recovery of the robot's
initial data in case they get lost. This function is possible only on robots which are delivered
with this option.
The robot control memorizes the initial position of the robot on the basis of the pulse value
of each encoder axis. Since the initial position is factory-set and registered, the setting to
zero must not be carried out in normal operation.
However, the setting to zero must be carried out if the initial position must be restored. The
initial position data will get lost when you effect the following operations or if the following
events occur.
• Replacement of motors
• Replacement of Encoders
• Discharging the battery of the robot
The home position data is stored by the backup battery. In the case of a discharged battery,
the data specific to the initial position will get lost if you switch off the power supply of the
robot control, even in the case of a reset. Make sure to change the battery on a regular
basis. You will find more information specific to changing the battery in the user manual of
the robot.
The initial position cannot be accurately set via the reset function if you modify the
combination robot and robot control.
9.8.1
Sensor
1
Amplifier YasXzero
2
Connection cable
3
Connection cable (RS232
4
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9 82

Zeroing Function (Optional)

Connection diagram

2
3
7
5
4
Zeroing Devices Zeroing Devices
8
1
5 Data communication card (CF)
6
Robot controller
7 Robot
Zeroing device YasXzero
8
6