7 Operations After Replacing Parts7.1 Home Position Calibration7-2159645-1CDRE-CHO-A111FS1007.1 Home Position Calibration7.1.1 Home Position CalibrationHome position calibration is an operation in which the home position andabsolute encoder position coincide. Although this operation is performedprior to shipment at the factory, the following cases require this operationto be performed again.• Change in the combination of the manipulator and FS100• Replacement of the motor or absolute encoder• Clearing stored memory (by replacement of main CPU board, weakbattery, etc.)• Home position deviation caused by hitting the manipulator against aworkpiece, etc.To calibrate the home position, use the axis keys to calibrate the mark forthe home position on each axis so that the manipulator can take itsposture for the home position. There are two operations for home positioncalibration:• All the axes can be moved at the same time• Axes can be moved individuallyCAUTION• Perform the following inspection procedures prior to conductingmanipulator teaching. If problems are found, repare themimmediaterly, and be sure that all other necessary processing hasbeen performed.– Check for problems in manipulator movement.– Check for damage to the insulation and sheathing of externalwires.• Return the programming pendant to a safe place after use.If the programming pendant is inadvertently left on the manipulator,on a fixture, or on the floor, the manipulator or a tool may collide withthe programming pendant during manipulator movement, which mayresult in personal injury or equipment damage.NOTETeaching and playback are not possible before homeposition calibration is complete.In a system with two or more manipulators, the homeposition of all the manipulators must be calibrated beforestarting teaching or playback.Set the security mode to the management mode to performhome position calibration.56 of 348
