8.2 Setting the Second Home Position (Check Point)
8-12
8.2.1 Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not match the data
stored in the absolute encoder the last time the power supply was turned OFF, an alarm is
issued when the controller power is turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when playback is started. If
the absolute data allowable range error alarm has occurred, playback and test runs will not
function and the position must be checked.
Position Check
After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the second home position
using the axis keys and perform the position confirmation. Playback, test runs, and FWD
operation will not function unless "CONFIRM POSITION" is performed.
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
Alarm occurs again
Correct defective axis
• Replace PG system
• Home position calibration
Playback possible
Compare second home
position (check point)*
pulses with current
position pulses
Procedure After Alarm Occurs
NG
OK
Position confirmation
operation
∗ Position checking point
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