Maintenance and inspection
9
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72
Position check
If the "OUT OF RANGE (ABSOLUTE DATA)" alarm occurs, move to the second home
position using the axis buttons, and check the position. Automatic mode, test runs and FWD
movement are not possible unless the position is checked with "CONFIRM POSITION".
Pulse difference check
The number of pulses at the second home position is compared with that at the current
position. If the deviation is within the permissible range, automatic mode is possible.
If not, the error message appears again.
NOTICE
The pulse for the permissible range is the number of pulses per rotation of the motor
(PPR data).
The initial value of the second home position is the home position in which all axes have
the pulse 0. The second home position can be changed. You will find more information
9.5.2 "Procedure for the second home position setting" on page .73.
Alarm message
If the alarm occurs again, the error may be in the PG system. Check the pulse generating
system. Once you have set the faulty axis, set the home position of the axis and then check
the position again.
NOTICE
If you set the home position simultaneously for all axes, automatic mode is possible without
a position check.
However, you should always carry out a position check with "CONFIRM POSITION". Under
the special conditions described above, the robot moves as follows:
To start with, the robot moves slowly (at 1/10 of the maximum speed) to the step
indicated by the cursor. If the robot is stopped and restarted during this movement, the
slow-motion speed is maintained until the step marked by the cursor is reached.
Regardless of the cycle setting, the robot stops when it reaches the step marked by the
cursor. When the robot is restarted, it moves at the programmed speed and in
accordance with the programmed cycle for the JOB.
Summary of Contents for MPL160-J00
Page 1: ...ROBOTICS MPL160 J00 YR MPL0160 J00 Operating and Maintenance Manual...
Page 36: ...Technical data 6 36 6 5 1 2 Stop position L axis 100 deflection deg deg s deg s sec...
Page 37: ...Technical data 6 37 6 5 1 3 Stop position U axis 100 deflection deg deg s deg s sec...
Page 61: ...Maintenance and inspection 9 61 Air outlet cap Joint 80 9 0 170 1 1 2 2 2 1 2...
Page 91: ...Parts lists 11 91...
