4. Robot Home Point and Position Detector Error ...................................................... 94
4.1 Setting Robot Home Point ............................................................................. 94
4.2 Position Detector Error .................................................................................. 95
4.3 Restoring Operation from Position Detector Error ......................................... 98
4.3.1 Encoder Status Display ..................................................................... 98
4.3.2 Encoder Error Reset Operation ....................................................... 100
4.4 Restoring Home Position Data by HOME Function ..................................... 101
4.4.1 Outline of HOME Function .............................................................. 101
4.4.2 Setting HOME1 and HOME2 .......................................................... 102
4.4.3 How to Restore Data by HOME1 or HOME2 .................................. 103
4.4.4 Locations of Robot Home Point Match-Marks ................................. 104
4.4.5 How to Restore Data by HOME3 or HOME4 .................................. 104
4.5 Restoring Home Position Data by ZEROP Function .................................... 106
4.5.1 Preparation before Restoring Operation ......................................... 106
4.5.2 Setting New Home Position Data .................................................... 107
4.5.3 Confirming Home Position .............................................................. 109
4.5.4 Saving Data ..................................................................................... 109
4.6 Restoring Home Position Data by Multi-Turn Data Clear ............................ 110
5. Replacement Parts for Maintenance .................................................................... 111
5.1 List of Replacement Parts – Main Robot ..................................................... 111
5.2 List of Replacement Parts – Controller ........................................................ 112
STE 85306
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