Maintenance 10. Battery Unit (Lithium Battery)
S5 Rev.5 185
Specify the joint that is out of the home position and the direction of the difference,
then change the Hofs values as follows.
Joint #1 out of home position in + direction
> Hofs Hofs(1) − 131072, Hofs(2), Hofs(3), Hofs(4), Hofs(5), Hofs(6)
Joint #1 out of home position in − direction
> Hofs Hofs(1) + 131072, Hofs(2), Hofs(3), Hofs(4), Hofs(5), Hofs(6)
Joint #2 out of home position in + direction
> Hofs Hofs(1), Hofs(2) − 131072, Hofs(3), Hofs(4), Hofs(5), Hofs(6)
Joint #2 out of home position in − direction
> Hofs Hofs(1),Hofs(2) + 131072, Hofs(3), Hofs(4), Hofs(5), Hofs(6)
:
:
:
Joint #6 out of home position in + direction
> Hofs Hofs(1), Hofs(2), Hofs(3), Hofs(4), Hofs(5), Hofs(6) − 131072
Joint #6 out of home position in − direction
> Hofs Hofs(1), Hofs(2), Hofs(3), Hofs(4), Hofs(5), Hofs(6) + 131072
(10) Move to 0 pulse position again.
> Go Pulse(0,0,0,0,0,0)
(11) Be sure to check that all joints have moved to their home positions (0 pulse position).
If no differences are found, recovery is complete.
Otherwise, repeat step (7) and (8) until no differences are found.
Now, the recovery of the home position is complete.
When you change the Hofs values, make sure to write down the new Hofs values.
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