6 Operations After Replacing Parts
6.1 Home Position Calibration
6-3
6.1 Home Position Calibration
6.1.1 Home Position Calibration
Home position calibration is an operation in which the home position and
absolute encoder position coincide. Although this operation is performed
prior to shipment at the factory, the following cases require this operation
to be performed again.
• Change in the combination of the manipulator and DX200
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of YIF01 circuit board,
weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a
workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the mark for
the home position on each axis so that the manipulator can take its
posture for the home position. There are two operations for home position
calibration:
• All the axes can be moved at the same time
• Axes can be moved individually
If the absolute data of the home position is already known, set the
absolute data again after completing home position registration.
Teaching and playback are not possible before home posi-
tion calibration is complete.
In a system with two or more manipulators, the home posi-
tion of all the manipulators must be calibrated before start-
ing teaching or playback.
Set the security mode to the management mode to perform
home position calibration.
Home Position
The home position is the position with the pulse value "0" for
each axis. See chapter 6.1.3 “Manipulator Home Position”
at page 6-9.
To Next Page
Loading...
