7 Operations After Replacing PartsFS100 7.3 Checking of the Check Program7-137.3.3 Home Position Data CorrectionWhen there is a deviation from the positions, correct the home positiondata with the following procedure.1. Check the values of the following pulses.– If there is no deviation, the following two values coincide. Then,proceed to chapter 7.4 “Setting the Second Home Position (CheckPoint)” at page 7-14.– If there is a deviation, execute the following procedures to correct it.(1) Command position pulse of the check point which was taught inadvanceDisplaying the Command Position PulseI) Select {ROBOT} under the main menu.II) Select {COMMAND POSITION}.(2) Current position pulse where the manipulator (tool tip) was movedto the check point after performing the check programDisplaying the Current Position PulseI) Select {ROBOT} under the main menu.II) Select {CURRENT POSITION}.2. Calculate the difference between the command position pulse and thecurrent position pulse.The difference pulse = Command position pulse − Current positionpulse3. On the HOME POSITIONING window, add the difference pulse valueto the absolute data of the axis whose motor or encoder, etc. wasreplaced.4. Modify the home position data by following the procedures describedin chapter 7.1.2.3 “Changing the Absolute Data” at page 7-7 inchapter 6.1.2.5. Confirm that the command position pulse and the current positionpulse coincide.– The home position data have been corrected.– Proceed to chapter 7.4 “Setting the Second Home Position (CheckPoint)” at page 7-14.
