4-3
151521-1CD
151521-1CD
4.4
Resetting Axis To Home Position
Resetting the HD Drive Module axis to Home position is typically done during initial installation or after
the servo motor has been serviced. These procedures assume that the customer supplied adapter
plate has been design to YASKAWA Motoman specifications and includes the homing pin hole
(see
Fig. 1-2 Customer Adapter Plate Configuration
To reset Home position, proceed as follows:
1.
Place robot in TEACH MODE and slowly jog axis until homing pin hole on adaptor plate is
accessible.
2.
Install homing pin into homing pin hole in adaptor plate. The pin may need to be tapped in with
a hammer.
3.
Jog the axis slowly until homing pin just touches stationary edge of structure. If you jog the
axis too far, the pin will bend, causing an inaccuracy. Slowly jog the axis in reverse until pin is
straight, but still touching the edge of structure.
4.
Place the programming pendant in MAINTENANCE MODE.
5.
Press the TOP MENU key on the programming pendant.
6.
Cursor to ROBOT and press SELECT.
7.
Cursor to HOME POSITION and press SELECT.
8.
Press the PAGE OVER key to the desired station (indicated in the top right corner).
9.
Make sure the axis is in the position that you want to teach as Home and press SELECT.
10.
Cursor to YES and press SELECT. The HD Drive Module axis is now reset to zero.
11.
Remove the homing pin from the adaptor plate.
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