YASKAWA MOTOMAN-MH900 Maintenance Manual

Contents

YASKAWA MOTOMAN-MH900 Maintenance Manual Manual pdf 18 page image

2 Home Position Return2.1 Home Position Return after Motor Replacement2-1180930-1CD180930-1CDMH9002 Home Position Return2.1 Home Position Return after Motor Replacement2.1.1 Home Position Return by Robot Calibration (MOTOCALV EG)The MOTOCALV EG allows the home position reset by teaching the five-point-in-five-posture.Refer to “MOTOCALV EG for Windows Operator’s Manual (152646-1CD)for details on the operation.2.1.2 Home Position Return by Setting Teaching Point for Home Position Settingbefore Motor ReplacementThe DX200 for the MH900 holds the position data of the job program(hereinafter called JOB) as the pulse number from the home position ofeach axis. Thus, by adjusting the home position precisely, the JOB usedbefore motor replacement can be used after the replacement withoutcorrection.Perform calibration and set the Manipulator position tohome in one of the following cases:• The combination of the robot and the control unit ischanged.• The motor or absolute encoder is replaced.• Stored memory is cleared.• The home position is deviated by hitting the robot againsta workpiece, etc.• The main parts of the speed reducer, etc. are replaced ordisassembled and reassembled.When performing calibration, be sure to satisfy the followingconditions:• No external force is applied to the Manipulator.• The tool and other loads on the wrist unit are removed.18 of 79