3
Home Position Return
3.2
Types of Methods for Home Position Return
3-2
HW1484673
HW1484673
3.2
Types of Methods for Home Position Return
This section explains the types of methods for home position return in
detail.
3.2.1 Using a Teaching Point for Setting the Home Position
As a preparation, create the standard position for home position
adjustment under normal operating conditions. After the replacement of
the motor, etc., move the manipulator to the created position to adjust the
deviation.
3.2.2 Using Keys
As a preparation, on the home position label inside of the YRC1000, write
down the difference of the pulse numbers between the key position and
the factory-set home position of the manipulator. If the home position data
disappear, move the manipulator to the key position, and set the position
where the above difference of the pulse numbers is reflected as the home
position.
3.2.3 Using Encoder Backup Error Recovery Function
If the stored memory is cleared due to the run-out of the internal battery
and the “Encoder Backup Error” alarm occurs, run the “Backup Alarm
Restoration” software on the programming pendant.
This function cannot be used when the motor or absolute encoder is
replaced.
3.2.4 Robot Calibration (MOTOCALV EG)
If any method described above in
cannot
be performed, perform robot calibration to reset the home position of the
manipulator.
Perform teaching of the five-point-in-five-posture (25 points in total) by
using the manipulator, and adjust the home position and tool data of the
manipulator by using its position data.
3.2.5 Table of Suitable Methods for Home Position Return
Suitable methods to return the home position for each case are shown in
table 3-1 “Table of Suitable Methods for Home Position Return”
.
Accuracy of home position return is categorized as follows:
High, Mid, Low (possible to obtain a more accurate home
position, but the home position of all axes are changed),
N/A (not applicable)
Table 3-1: Table of Suitable Methods for Home Position Return
Case
Method
Replacement
of motor or
encoder
Run-out of
internal
battery
Hitting
against a
workpiece
Replacing
a main part
Teaching point
High
N/A
N/A
High
Key
Mid
Mid
N/A
Mid
Encoder backup error
recovery function
N/A
High
N/A
N/A
Robot calibration
Low
Low
Low
Low
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