3 Home Position Return
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor
Battery
3-6
159281-1CD
HW1480357
HP20D
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery
3.2.1 Home Position Return at the Time of Battery Backup by Using the
Function: Home Position Calibration Function for Restoration
To start the home position calibration function for restoration, move the
manipulator to the posture close to the home position (within one motor
rotation), then execute the software program “Backup alarm restoration”
on the programming pendant.
The home position return by this function updates the multi-turn data for
motor.
3.2.2 Home Position Return by Keys (for S-, L-, U-, and R-Axes)
To enable the home position return by using keys, write down the
differential pulse between the key position and the default home position
on the home position label on the inside of the DX100.
If the home position data disappears, move the manipulator to the key
position. Then, as the home position, set the position where the above
differential pulse is added to the key position.
3.2.2.1 Calibration Operation
The parts in Table 3-1 "Parts List"are required for calibration. Prepare
them before calibration operation.
S-Axis Positioning
As shown in Fig. 3-3 “S-Axis Positioning”, insert the shaft SFJW6-100 in
the hole ( ) on the S-head. Then, perform positioning with the
programming pendant so that the shaft fits into the hole on the base.
Fig. 3-3: S-Axis Positioning
Table 3-1: Parts List
Drawing No. Name Qty. Remark
SFJW6-100 Shaft 1 For S-, L-, and U-
axes
SFJW4-100 Shaft 1 For R-axis
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