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168283-1CD
168283-1CD
Hardware Installation &
Software Upgrade
7 System Setup
7.1 Home Position Calibration
7.1.1 Home Position Calibration
Home position calibration is an operation in which the home position and
absolute encoder position coincide. Although this operation is performed
prior to shipment at the factory, the following cases require this operation
to be performed again.
• Change in the combination of the manipulator and MLX200 drive
panel
• Replacement of the motor or absolute encoder
• Clearing stored memory (MLX200 Control Module, weak battery,
etc.)
• Home position deviation caused by hitting the manipulator against a
workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home
position mark on each axis so that the manipulator can take its posture for
the home position. There are two operations for home position calibration:
• Axes can be moved individually: Recalibrate the home position for
the individual axes that were
affected by the replacement, if
replacing the motor or absolute
encoder.
If the absolute data of its posture for the home position is already known,
set the absolute data again after completing home position registration.
CAUTION
•
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.
NOTE
Teaching and playback are not possible before the
completion of the home position calibration.
In a system with two or more manipulators, the home
position of all the manipulators must be calibrated before
starting teaching or playback.
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