YASKAWA Motoman UP6, Instructions Manual

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5.6 Position Data When Power is Turned ON/OFF
5-17
5.6
Position Data When Power is Turned ON/OFF
5.6.1
Power ON/OFF Position Display
The Power ON/OFF position display shows the position of the manipulator when power was
turned off the last time, the current position of the manipulator when power was later turned
on, and the amount of difference between the two positions. When alarm 4107, "OUT OF
RANGE (ABSO DATA)" occurs, the error value of the faulty axes can be verified in this dis-
play.
*1
The power ON/OFF position display is shown.
Select {ROBOT} under the top menu Select {POWER ON/OFF POS}
*1
O peration
Explanation
P O W E R O N / O F F P O S I T I O N
OFF POS ON POS DIFFERENCE
R1:S 4775 4120 665
L 8225 8225 0
U 960 960 0
R -336 -336 0
B -202 -203 1
T -10 -11 1
!
R1
S C
L
D A T A E D I T D I S P L A Y U T I L I T Y