3-1
159281-1CD
HW1480357
HP20D
3 Home Position Return
3.1 Home Position Return after Motor Replacement
3 Home Position Return
3.1 Home Position Return after Motor Replacement
3.1.1 Home Position Return by Zeroing Function
The zeroing function is an optional function which automatically allows the
restoration of the home position data when the manipulator’s home
position data disappears.
For the details of this function, refer to “INSTRUCTIONS FOR ZEROING
FUNCTION”.
3.1.2 Home Position Return by Robot Calibration (MOTOCALV EG)
The MOTOCALV EG allows the home position reset by teaching the five-
point-in-five-posture.
Refer to “MOTOCALV EG for Windows Operator’s Manual” (manual No.
HW0483085) for details on the operation.
Perform calibration and set the manipulator position in one
of the following cases:
• The combination of the MOTOMAN and the control unit is
changed.
• The motor or absolute encoder is replaced.
• Stored memory is cleared.
• The home position is deviated by hitting the MOTOMAN
against a workpiece, etc.
• The main parts of the speed reducer, etc. are replaced or
disassembled and reassembled.
When performing calibration, be sure to satisfy the following
conditions:
• No external force is applied to the manipulator.
• The hand and the other parts of the wrist unit are removed.
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