YASKAWA DX100 Maintenance Manual page 85

DX100
6.4.1 Purpose of Position Check Operation
6 Operations After Replacing Parts
6.4 Setting the Second Home Position (Check Point)
If the absolute number of rotation detected at power supply ON does not
match the data stored in the absolute encoder the last time the power
supply was turned off, an alarm is issued when the controller power is
turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when
playback is started. If the absolute data allowable range error alarm has
occurred, playback and test runs will not function and the position must be
checked.
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
1, Position confirmation
operation
Compare second home
position (check point)*
pulses with current
position pulses
OK
Position checking point
Playback possible
6-15
Procedure After Alarm Occurs
2,
NG
Alarm occurs again
3, Correct defective axis
Replace PG system
Home position calibration