YASKAWA MH5S II, Руководство по эксплуатации и техническому обслуживанию

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Maintenance and inspection
9
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66
Position check
If the "OUT OF RANGE (ABSOLUTE DATA)" alarm occurs, move to the second zero
position using the axis buttons, and check the position. Automatic mode, test runs and FWD
movement are not possible unless the position is checked with "CONFIRM POSITION".
Pulse difference check
The number of pulses at the second zero position is compared with that at the current
position. If the deviation is within the permissible range, automatic mode is possible.
If not, the error message appears again.
NOTICE
 The pulse for the permissible range is the number of pulses per rotation of the motor
(PPR data).
 The initial value of the second zero position is the zero position in which all axes have
the pulse 0. The second home position can be changed. You will find more information
9.7.2 "Procedure for the second home position setting" on page .66.
Alarm message
If the alarm occurs again, the error may be in the PG system. Check the pulse generating
system. Once you have set the faulty axis, set the zero position of the axis and then check
the position again.
NOTICE
If you set the zero position simultaneously for all axes, automatic mode is possible without
a position check.
However, you should always carry out a position check with "CONFIRM POSITION". Under
the special conditions described above, the robot moves as follows:
 To start with, the robot moves slowly (at 1/10 of the maximum speed) to the step
indicated by the cursor. If the robot is stopped and restarted during this movement, the
slow-motion speed is maintained until the step marked by the cursor is reached.
 Regardless of the cycle setting, the robot stops when it reaches the step marked by the
cursor. When the robot is restarted, it moves at the programmed speed and in
accordance with the programmed cycle for the job.
9.7.2 Procedure for the second home position setting
Apart from the “home position” of the robot, the second home position can be set up as a
check point for absolute data. Use the following steps to set the specified point.
NOTICE
If 2 or more Robots or stations are controlled by one controller, the second home position
must be set for each robot or station.