YASKAWA MH180 Operating And Maintenance Manual page 86

Maintenance and inspection
9.8.3.2
WARNING!
Danger caused by unintentional start of the robot.
An unexpected start of the robot while people are standing in its movement area can cause
life threatening injuries.
 Ensure before entering the danger zone that the programming pendant is active and
that the robot cannot be controlled from other positions (e.g. central control desk).
 All the following robot movements must be effected exclusively by trained specialized
personnel and with the programming pendant.
NOTICE
Resetting will be described in the following using an S axis as example. This procedure
applies to all other axes.
The illustrations serve as example as the installation situation varies depending on robot
and robot axis. To this effect refer to the drawings in the annex.
1. Drive the axis in position so that the marking on the screw-in point of the reset sensor
coincides with the corresponding alignment marking.
The markings differ depending on the type of robot and the axis. Also refer to the
enclosed drawing that illustrates the resetting points.
2. Remove the locking device and the cover on the screw-in point for the sensor.
3. Ensure that the fastening bore is free from dirt, rust or any other impurities.
When the reset sensor becomes visible through the fastening bore, you should be able
to see a counter bore for resetting. If not, then probably the axis is not accurately
positioned between the alignment markings. Re-position the axis.
4. Screw-in the reset sensor manually.
Do not use a screwing tool to avoid damaging the sensor. Clean the sensor before
screwing with a soft cloth.
5. Connect the connecting cable to the sensor.
6. Switch on the YasXzero amplifier.
7. Switch the mode switch on the programming pendant to TEACH.
8. Select <MAIN MENU> → <ROBOT> → <ZEROING>..
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9 86
Resetting an axis