YASKAWA Motoman UP6, Instructions Manual

Page: 168 / 561

3.2 Specified Point
3-10
3.2.1
Purpose of Position Check Operation
If the absolute number of rotation detected at power on does not match the data stored in the
absolute encoder the last time the power was turned off, an alarm is issued when the control-
ler power is turned on.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power 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
If the absolute data allowable range alarm occurs, move to the specified point using the axis
keys and check the position. Playback, test runs, and other operation will not function.
After absolute data allowable range alarm occurs
Reset alarm
Turn ON servo power
#$
Position checking
Alarm occurs again
%$
Correct defective axis
• Replace PG system
• Home position calibration
Playback possible
&$
C o m p a r e s e c o n d h o m e
position pulses with
current position pulses
Procedure After Alarm Occurs
N G
O K