9.2 Second Home Position (Check Point)
9-13
9.2.3 Procedure After an Alarm
If the absolute data allowable range alarm occurs, perform the followings
• Reset the alarm
• Turn Servo power ON
and confirm the second home position. After the confirmation, if the PG system is found to be
the cause of the alarm, perform the necessary operation, such as replacing the PG, etc.
The robot current position data when turning main power supply OFF and ON can be con-
firmed in “Power ON/OFF Position Window”.
• Be aware of safety hazards when performing the position confirma-
tion of the specified point.
Abnormality of the PG system may be cause for alarm. The manipulator may oper-
ate in an unexpected manner, and there is a risk of damage to equipment or injury
to personnel.
Refer to NX100 MAINTENANCE MANUAL " 7.7 Position Data When Power is
Turned ON/OFF " for details on the "Power ON/OFF Position Window."
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {SECOND HOME
POS}.
The SECOND HOME POSITION window 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 [FWD]. TCP moves to the second home position. The robot moving
speed is set as selected manual operation speed.
5 Select {DATA} under the
menu.
6 Select {CONFIRM
POSITION}.
The message “Home position checked” is shown.
Pulse data of the second home position and current pulse data
are compared. If the compared error is in allowed range, playback
operation can be done.
If the error is beyond the allowed range, the alarm occurs again.
WARNING
SUPPLE
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