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3.1 Home Position Calibration
3-2
3.1.1
Home Position Calibration
Home position calibration is an operation in which the home position and encoder zero posi-
tion coincide. Although this operation is performed prior to shipment at the factory, the follow-
ing cases require this operation to be performed again.
• Change in the combination of the manipulator and XRC
• Replacement of the motor or encoder
• Clearing stored memory (by replacement of XCP01 board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, move the manipulator to the home position using the axis
keys. There are two operations for home position calibration:
• All the axes can be moved at the same time
• Axes can be moved individually
If the absolute data of the home position is already known, set the absolute data again after
completing home position registration.
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and be
sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
- Always return the programming pendant to its hook on the XRC cabi-
net after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the
floor, the manipulator or a tool could collide with it during manipulator movement, possibly
causing injury or equipment damage.
Teaching and playback are not possible before home position calibration is complete.
In a system with two or more manipulators, the home position of all the manipulators must
be calibrated before starting teaching or playback.
C A U T I O N
N OT E