YASKAWA YR-HP0020D-A00 - Page 25

3-7
159281-1CD
HW1480357
HP20D
3 Home Position Return
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor
Battery
 L-Axis Positioning
As shown in Fig. 3-4 “L-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 L-arm.
Fig. 3-4: L-Axis Positioning
 U-Axis Positioning
As shown in Fig. 3-5 “U-Axis Positioning”, insert the shaft SFJW6-100 in
the hole ( ) on the casing. Then, perform positioning with the
programming pendant so that the shaft fits into the hole on the L-arm.
Fig. 3-5: U-Axis Positioning
6 dia.
+0.012
0
Shaft
L-arm
S-head
6 dia.
+0.012
0
Casing
Shaft
L-arm
25 of 96