Maintenance and inspection
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9.7.3 Resetting
The zero setting function can be effected only if the safety mode is set as extended mode.
To this effect, refer to the operating manual of the robot control system.
9.7.3.1 Preparatory measures
1. Remove the tools fastened to the robot.
If the zero setting is effected on a robot with tools, the weight of the tool can affect the
positioning accuracy.
2. Drive all the axes of the robot to initial position, as otherwise errors might occur if axes
are coupled.
3. Insert the CF data transmission card of the reset to zero device in the opening of the
programming pendant.
Fig. 9-9: Inserting the data transmission card
4. Connect the CF data transmission card and the amplifier to the RS232 connecting cable
(extension cable and connecting cable to the CF card).
5. Connect the connecting wire to the YasXzero amplifier (socket “Sensor”). Do not
connect the sensor yet.
NOTICE
To install the reset to zero device and the reset sensor, please refer to chapter “Overview
of the YasXzero reset to zero device” included in this manual.
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