YASKAWA MOTOMAN-PH130F - Using Encoder Backup Error Recovery Function; Robot Calibration (MOTOCALV EG)

3 Home Position Return
3.3 Methods for Home Position Return
3-8
HW1485471
HW1485471
6. T-Axis Positioning
As shown in fig. 3-7 “T-axis Positioning” , insert two pins (HW1408161-6-
20) into the wrist, and then mount the plate (HW0400734-1).
Insert the pin (HW9405595-1) from the above mentioned mounted plate
(HW0400734-1), and perform positioning by using the programming
pendant so that the pin fits into the hole ( ) of the wrist.
Fig. 3-7: T-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.
6 dia.
+0.012
0
Pin (HW1408161-6-20) (2 pins)
Plate (HW0400734-1)
Wrist
Flange
Pin (HW9405595-1)
Pin hole (6 dia. )
+0.012
0
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