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183523-1CD
183523-1CD
6
Maintenance and Troubleshooting
6.11 Positioner Home Position
RM2-755-RDR Postioner
6.11 Positioner Home Position
Home Position Definition:
• S1 with Side B at Robot & Side A at Operator
• S2 Tooling Down (At Operator Side)
• S3 Tooling Up (At Robot Side)
6.11.1 Positioner Headstock
6.11.1.1 Setting the Main Axis (S1) to Home (Zero) Position
1. Using the Programming Pendant, place into MANAGEMENT mode.
2. Jog the S1 axis into the Positioner hard stop with Side “B” at robot.
Increment Positioner against hard stop until the axis holding torque
equals 45% (± 5%).
3. Press the [TOP MENU] key on the Programming Pendant.
4. Cursor to {ROBOT} and press [SELECT].
5. Cursor to {HOME POSITION} and press [SELECT].
6. Press the [PAGE OVER] key to {S1} (indicated in top right corner of
Programming Pendant display panel).
7. Press [SELECT].
8. Cursor to {YES}, then press [SELECT].
6.11.1.2 Defining Trunnion Axis (S1) “A-Side”
1. Select the EX040 position variable and select S1.
2. “Forward” to EX040 while monitoring the S1-Axis torque when
approaching the Positioner.
3. Jog the S1 axis against the hard stop until axis holding torque = 45%
(+/- 5%).
4. Modify the value in EX040, S1 position variable.
CAUTION
• Make sure the machine is operating temperature before setting the
Main Axis (S1) to the Home (Zero) position.
If machine is not warm torque values will increase which will cause
inaccurate hardstop settings. Two ways to reach the operating
temperature are:
– Run the machine for some time.
– Leave the servos on by pressing the hold button on the teach
pendant.
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