YASKAWA FS100 - 7.2 Position Deviation Check Using the Check Program

7 Operations After Replacing Parts
FS100 7.2 Position Deviation Check Using the Check Program
7-11
7.2 Position Deviation Check Using the Check Program
Use the check program to check if positions are deviated with the
following procedure.
1. Call up the check program in which the check point is taught (the job
for) and operate the manipulator at low speed.
2. Check the tool tip position.
– If it points the check point exactly as shown in the following figure,
there is no deviation from the positions. Proceed to chapter 7.4
“Setting the Second Home Position (Check Point)” at page 7-14.
– If not, there is a deviation. When the motor or encoder, etc. was
replaced, move the corresponding axis only, when the stored
memory was cleared or the manipulator was hit against a
workpiece, move all axes, to the check point by joint motion. Then,
proceed to chapter 7.3.3 “Home Position Data Correction” at
page 7-13.