YASKAWA DX100 - 9 Error; 9.1 Error Message List

8 System Setup
DX100 8.5 Work Home Position
8-55
8.5.2.3 Returning to the Work Home Position
 In the teach mode
1. Press [FWD] in the work home position display.
– The manipulator moves to the new work home position. The moving
speed is the selected manual speed.
 In the play mode
When the work home position return signal is input (detected at leading
edge), the TCP of the manipulator is moved to the work home position.
When the manipulator moves, a message "Manipulator is moving to work
home position" is displayed. In this case, the move interpolation is
MOVJ, and the speed applied is the one set in the parameters.
(S1CxG56; units: 0.01 %.)
8.5.2.4 Output of the Work Home Position Signal
This signal is output any time the current position of the TCP of the
manipulator is checked and found to be within the work home position
cube.
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