6.2 Position Deviation Check Using the Check Program
6-10
6.2 Position Deviation Check Using the Check Pro-
gram
Use the check program to check if positions are deviated with the following procedure.
1. Call up the check program in which the check point is taught (the job for the check
point) and operate the manipulator at low speed.
2. Check the tool tip position.
If it points the check point exactly as shown in the following figure, there is no deviation
from the positions. Proceed to "6.4 Setting the Second Home Position (Check Point)."
If not, there is a deviation. When the motor or encoder, etc. was replaced, move the
corresponding axis only, when the stored memory was cleared or the manipulator was
hit against a workpiece, move all axes, to the check point by joint motion. Then, pro-
ceed to "6.3 Home Position Data Correction."
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