6
Operations After Replacing Parts
6.4
Setting the Second Home Position (Check Point)
6-15
6.4.1
Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not
match the data stored in the absolute encoder the last time the power
supply was turned off, an alarm is issued when the controller power is
turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply 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.
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
Alarm occurs again
3,
Correct defective axis
• Replace PG system
• Home position calibration
Playback possible
2,
Compare second home
position (check point)*
pulses with current
position pulses
Procedure After Alarm Occurs
NG
OK
1, Position confirmation
operation
Position checking point
