YASKAWA motoman NX100 - Page 212

9.2 Second Home Position (Check Point)
9-12
9.2.2 Setting the Second Home Position (Check Point)
Apart from the normal home position of the manipulator, the second home position can be set
up as a check point for absolute data. Use the following steps to set the specified point.
If two or more manipulators or stations are controlled by one controller, the second home posi-
tion must be set for each manipulator or station.
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {SECOND HOME
POS}.
The SECOND HOME POSITION window is shown.
The message “Available to move to any modify second home
position” is shown.
3
Press the page key .
The group axes by which the second home position is set is
selected when there are two or more group axes.
4 Press the axis keys. Move the manipulator to the new second home position.
5 Press [MODIFY] and
[ENTER].
The second home position is changed.
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
R1:S
L
U
R
B
T
000
000
000
000
000
000
SECOND HOME POSITION
HOME POSITION CURRENT DIFFERENCE
PAGE
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