YASKAWA Motoman UP6, Instructions Manual

Page: 169 / 561

3.2 Specified Point
3-11
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Pulse Difference Check
The pulse number at the specified point is compared with that at the current position. If the
difference is within the allowable range, playback is enabled. If not, the error alarm occurs
again.
• The allowable range is the number of pulses per rotation of the motor (PPR data).
• The initial value of the specified point is the home position (where all axes are at pulse 0).
The specified point can be changed. For details, refer to " 3.2 Specified Point ".
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Alarm Occurrence
If the error alarm occurs again, there may be an error in the PG system. Check the system.
After adjusting the erroneous axis, calibrate the home position of the axis, then check the
position again.
3.2.2
Specified Point Setting
Apart from the normal home position of the manipulator, the specified point can be set up as a
check point for absolute data. Use the following steps to set the specified point.
If two or more manipulators or stations are controlled by one control panel, the specified point
must be set for each manipulator or station.
*1
The specified point display is shown.
The message “Available to move to any modify specified point” is shown.
• Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
• Sometimes in a system with a manipulator that has no brake, it is possible to enable
playback without position checking after the absolute data allowable range error alarm
occurs.
However, as a rule, always check the position.
Under the above special conditions, the manipulator moves as follows:
After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor. If it is stopped and restarted during this motion, the low
speed setting is retained until the step at cursor is reached. Regardless of cycle setting,
the manipulator stops after the cursor step is reached. Starting the manipulator again
then moves it at the programmed speed and cycle of the job.
Select {ROBOT} under the top menu Select {SECOND HOME POS}
*1
Press
the pa g e k e
*2
Press the axis keys
*3
Press [MODIFY] and [ENTER]
*4
N OT E
O peration
Explanation