6.3 Home Position Data Correction
6-11
6.3 Home Position Data Correction
When there is a deviation from the positions, correct the home position data with the following
procedure.
1. Check the values of the following pulses. (If there is no deviation, the following two val-
ues coincide.)
• Command position pulse of the check point which was taught in advance
• Current position pulse where the manipulator (tool tip) was moved to the check
point after performing the check program
Displaying the Command Position Pulse
Displaying the Current Position Pulse
2. Calculate the difference between the command position pulse and the current position
pulse.
The difference pulse = Command position pulse − Current position pulse
3. On the HOME POSITIONING window, add the difference pulse value to the absolute
data of the axis whose motor or encoder, etc. was replaced.
4. Modify the home position data by following the procedures described in " 6.1.2 Cali-
brating Operation ".
5. Confirm that the command position pulse and the current position pulse coincide.
The home position data have been corrected. Proceed to "6.4 Setting the Second
Home Position (Check Point)."
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {COMMAND POSI-
TION}.
The command position pulse values appear.
Note the values.
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {CURRENT POSI-
TION}.
The current position pulse values appear.
Note the values.
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