8 System Setup
DX100 8.2 Setting the Second Home Position (Check Point)
8-14
Alarm Occurrence
If the alarm occurs again, there may be an error in the PG system. Check
the system. After adjusting the erroneous axis, calibrate the home
position of the axis, then check the position again.
8.2.2 Procedure for the Second Home Position Setting (Check Point)
Apart from the "home position" of the manipulator, the second home
position can be set up as a check point for absolute data. Use the
following steps to set the specified point.
If two or more manipulators or stations are controlled by one controller, the
second home position must be set for each manipulator or station.
1. Select {ROBOT} under the main menu.
– The sub menu appears.
NOTE
• Home position calibration of all the axes at the same
time enables playback operations without having to
check the position.
• Sometimes in a system with a manipulator with no
brake, it is possible to enable playback without position
checking after the alarm occurs. However, as a
rule, always perform "CONFIRM POSITION".
Under the above special conditions, the manipulator
moves as follows:
• After the start, the manipulator moves at low speed (1/
10 of the maximum speed) to the step indicated by the
cursor. If it stops and restarts during this motion, the low
speed setting is retained until the step at cursor is
reached.
• Regardless of cycle setting, the manipulator stops after
reaching to the step indicated by cursor. Starting the
manipulator again then moves it at the programmed
speed and cycle of the job.
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