8 System Setup
8.2 Setting the Second Home Position (Check Point)
8-15
182582-1CD
182582-1CD
MH900, DX200 Controller
Pulse Difference Check
The pulse number at the second home position is compared with that at
the current position. If the difference is within the allowable range,
playback is enabled. If not, the alarm occurs again.
• The allowable range pulse is the number of pulses per rotation of the
motor (PPR data).
• The initial value of the second home position is the home position
(where all axes are at pulse 0). The second home position can be
changed. For details, refer to section 8.2.2 “Procedure for the
Second Home Position Setting (Check Point)” on page 8-16.
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.
• 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
break, it is possible to enable playback without position
checking after the alarm occurs. Ho w e ve r, a s a r u le ,
alwa ys pe rform “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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