3 Home Position Return
3.3 Methods for Home Position Return
3-8
HW1484673
HW1484673
• YR-1-06VXL35-A00
As shown in fig. 3-5(b) “R-Axis Positioning (YR-1-06VXL35-A00)” ,
perform positioning by using the programming pendant so that the
plate (HW0402155-3) fits into the groove on the casing and U-arm.
Fig. 3-5(b): R-Axis Positioning (YR-1-06VXL35-A00)
5. B-Axis Positioning
As shown in fig. 3-6 “B-Axis Positioning” , insert the shaft
(HW9405595-4) from the pin hole ( ) on the wrist cover and
perform positioning by using the programming pendant so that the
shaft fits into the slot of the wrist base.
Fig. 3-6: B-Axis Positioning
3.3.3 Using Encoder Backup Error Recovery Function
For details on the encoder backup error recovery function, refer to
“YRC1000 INSTRUCTIONS (RE-CTO-A221)”.
3.3.4 Robot Calibration (MOTOCALV EG)
Contact your YASKAWA representative for the procedure of robot
calibration.
U-arm
Casing
Plate (HW0402155-3)
6
+0.015
0
Shaft (HW9405595-4)
Wrist
U-arm
Pin hole (6 dia. )
+0.012
0
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