YASKAWA MOTOMAN-PH130F Maintenance Manual

Contents

3 Home Position Return3.3 Methods for Home Position Return3-8HW1485471HW14854716. T-Axis PositioningAs shown in fig. 3-7 “T-axis Positioning” , insert two pins (HW1408161-6-20) into the wrist, and then mount the plate (HW0400734-1).Insert the pin (HW9405595-1) from the above mentioned mounted plate(HW0400734-1), and perform positioning by using the programmingpendant so that the pin fits into the hole ( ) of the wrist.Fig. 3-7: T-axis Positioning3.3.3 Using Encoder Backup Error Recovery FunctionFor details on the encoder backup error recovery function, refer to“YRC1000 INSTRUCTIONS (RE-CTO-A221)”.3.3.4 Robot Calibration (MOTOCALV EG)Contact your YASKAWA representative for the procedure of robotcalibration.6 dia. +0.0120Pin (HW1408161-6-20) (2 pins)Plate (HW0400734-1)WristFlangePin (HW9405595-1)Pin hole (6 dia. )+0.012024/134