YASKAWA MOTOMAN DX100, Руководство по обслуживанию, Страница: 82 / 729

6 Operations After Replacing Parts
DX100 6.3 Checking of the Check Program
6-12
6.3.3 Home Position Data Correction
When there is a deviation from the positions, correct the home position
data with the following procedure.
1. Check the values of the following pulses.
– If there is no deviation, the following two values coincide. Then,
proceed to chapter 6.4 “Setting the Second Home Position (Check
Point)” at page 6-13 .
– If there is a deviation, execute the following procedures to correct it.
(1) Command position pulse of the check point which was taught
in advance
Displaying the Command Position Pulse
I) Select {ROBOT} under the main menu.
II) Select {COMMAND POSITION}.
(2) Current position pulse where the manipulator (tool tip) was
moved to the check point after performing the check program
Displaying the Current Position Pulse
I) Select {ROBOT} under the main menu.
II) Select {CURRENT POSITION}.
2. Calculate the difference between the command position pulse and the
current position pulse.
The difference pulse = Command position pulse
−
Current position
pulse
3. On the HOME POSITIONING window, add the difference pulse value
to the absolute data of the axis whose motor or encoder, etc. was
replaced.
4. Modify the home position data by following the procedures described
in chapter 6.1.2.3 “Changing the Absolute Data” at page 6-7 in
chapter 6.1.2.
5. Confirm that the command position pulse and the current position
pulse coincide.
– The home position data have been corrected.
– Proceed to chapter 6.4 “Setting the Second Home Position (Check
Point)” at page 6-13 ".