8-14
182582-1CD
182582-1CD
8 System Setup
8.2 Setting the Second Home Position (Check Point)
MH900, DX200 Controller
8.2.1 Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not
match the data stored in the absolute encoder the last time the power
supply was turned OFF, an alarm is issued when the controller power is
turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when
playback is started. If the absolute data allowable range error alarm has
occurred, playback and test runs will not function and the position must be
checked.
Position Check
After the “OUT OF RANGE (ABSO DATA)” alarm occurs, move to the
second home position using the axis keys and perform the position
confirmation. Playback and test runs will not function unless “CONFIRM
POSITION” is performed.
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
Alarm occurs again
Correct defective axis
Replace PG system
Home position calibration
Playback possible
Compare second home
position (check point)*
pulses with current
position pulses
Procedure After Alarm Occurs
NG
OK
Position confirmation
operation
Position checking point
1
2
3
1
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