YASKAWA NX100 Instructions Manual page 68

8.1 Home Position Calibration
• Always press the emergency stop button immediately if there are prob-
lems.
Emergency stop buttons are located on the right of the front door of the
NX100 and the programming pendant.
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and be
sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its hook on the NX100 cabi-
net after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the
floor, the manipulator or a tool could collide with it during manipulator movement, possibly
causing injury or equipment damage.
8.1.1
Home Position Calibration
Teaching and playback are not possible before the completion of the home position calibra-
NOTE
tion.
In a system with two or more manipulators, the home position of all the manipulators must
be calibrated before starting teaching or playback.
Home position calibration is an operation in which the home position and absolute encoder
position coincide. Although this operation is performed prior to shipment at the factory, the fol-
lowing cases require this operation to be performed again.
• Change in the combination of the manipulator and NX100
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of NIF01 circuit board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home position mark on each
axis so that the manipulator can take its posture for the home position. There are two opera-
tions for home position calibration:
WARNING
CAUTION
8-2