6.4 Setting the Second Home Position (Check Point)
6-15
Pulse Difference Check
The pulse number at the second home position is compared with that at the current posi-
tion. If the difference is within the allowable range, playback is enabled. If not, the alarm
occurs again.
• The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
• The initial value of the second home position is the home position (where all axes are at
pulse 0). The second home position can be changed. For details, refer to "6.4.2 Proce-
dure for the Second Home Position Setting (Check Point)."
Alarm Occurrence
If the alarm occurs again, there may be an error in the PG system. Check the system. After
adjusting the erroneous axis, calibrate the home position of the axis, then check the position
again.
• Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
• Sometimes in a system with a manipulator that has no brake, it is possible to enable
playback without position checking after the alarm occurs. However, as a rule,
always perform "CONFIRM POSITION".
Under the above special conditions, the manipulator moves as follows:
After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor. If it is stopped and restarted during this motion, the low
speed setting is retained until the step at cursor is reached. Regardless of cycle setting,
the manipulator stops after the cursor step is reached. Starting the manipulator again
then moves it at the programmed speed and cycle of the job.
NOTE
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