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
Содержание SK300X
Страница 2: ......
Страница 4: ...SK300X Manipulator Manual XRC 2001 ii MOTOMAN NOTES...
Страница 7: ...INTRODUCTION MOTOMAN 1 3 SK300X Manipulator Manual XRC 2001 NOTES...
Страница 21: ...viii...
Страница 25: ...xii...
Страница 41: ...1 7 Notes on MOTOMAN Disposal 1 16...
Страница 59: ...4 3 Connection Methods 4 12...
Страница 67: ...6 1 Movement of the Axes 6 4...
Страница 73: ...8 2...
Страница 74: ......
Страница 93: ...3 3 Location 3 6...
Страница 99: ...4 2 Cable Connection 4 6...
Страница 102: ...5 4 Dimensions and Working Range 5 3 5 4 Dimensions and Working Range Fig 10 a Dimesions and Working Range YR SK300 J0...
Страница 103: ...5 4 Dimensions and Working Range 5 4 Fig 10 b Dimesions and Working Range YR SK300 J1...
Страница 104: ...5 4 Dimensions and Working Range 5 5 Fig 10 c Dimesions and Working Range YR SK300 J2...
Страница 109: ...6 2 Wrist Flange 6 4...
Страница 133: ...9 2 Notes on Maintenance Procedures 9 18...
Страница 136: ...11 1 S Axis Driving Unit 11 1 11 Parts List 11 1 S Axis Driving Unit...
Страница 138: ...11 2 L U Axis Driving Unit 1 11 3 11 2 L U Axis Driving Unit 1...
Страница 140: ...11 3 L U Axis Driving Unit 2 11 5 11 3 L U Axis Driving Unit 2...
Страница 234: ...2 8 General I O Signal Assignment 2 72...
Страница 270: ...4 4 Recommended Spare Parts 4 30...
Страница 285: ...xiv...
Страница 286: ...Setup Diagnosis...
Страница 287: ......
Страница 289: ...1 2...
Страница 297: ...2 1 Protection Through Security Mode Settings 2 8...
Страница 395: ...3 17 File Initialize 3 98...
Страница 417: ...4 2 Addition of Base and Station Axis 4 22...
Страница 435: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Страница 436: ...Hardware...
Страница 437: ......
Страница 447: ...6 4 Equipment Configuration 6 10...
Страница 456: ...8 8 Open Phase Check 8 8...
Страница 476: ...9 4 Recommended Spare Parts 9 20...
Страница 477: ...Alarm Error...
Страница 478: ......
Страница 523: ......
Страница 524: ......
Страница 525: ......
Страница 526: ......
Страница 527: ......
Страница 528: ......
Страница 529: ......
Страница 530: ......
Страница 531: ......
Страница 532: ......
Страница 533: ......
Страница 534: ......
Страница 535: ......
Страница 536: ......
Страница 537: ......
Страница 538: ......
Страница 539: ......
Страница 540: ......
Страница 541: ......
Страница 542: ......
Страница 543: ......
Страница 544: ......
Страница 545: ......
Страница 546: ......
Страница 547: ......
Страница 548: ......
Страница 549: ......
Страница 550: ......
Страница 551: ......
Страница 552: ......
Страница 553: ......