4. Robot Home Point and Position Detector Error
4.1 Setting Robot Home Point
Before delivery from our plant, home point setting is performed for the robot after its
arm is secured with clamp for home point setting.
At the time of home point setting, position data of the motor position detector (i.e.,
encoder) is backed up by batteries, and coordinates of the robot need not be set each
time the power is turned on.
The position data of the motor position detector comes in the two (2) types; home
position data within one (1) full turn of motor and motor multi-turn data.
Home position data within one (1) full turn of motor:
At home point setting operation of the robot (i.e., ZEROP operation and REORG
operation), the data are written into the parameter file. As the data is backed up by
batteries, the parameters should be loaded again from the attached system disk at
replacement of the main control printed board.
Motor multi-turn data:
This data is kept in the encoder by battery backup, which differs from the backup
battery of the main control printed board. When the battery voltage drops, correct
multi-turn data cannot be guaranteed and the encoder itself outputs an alarm. This
data is set to zero (0) at home point setting operation of the robot (i.e., ZEROP
operation and REORG operation). Likewise, it is set to zero (0) also by multi-turn
data reset operation.
STE 85306
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