YASKAWA MOTOMAN-MH5S II User manual

MANUAL NO.
HW1483638
Part Number: 176183-1CD
Revision: 1
2
MOTOMAN-MH5S(II)/MH5F
MAINTENANCE MANUAL
TYPE:
YR-MH0005F-A00 (STANDARD SPECIFICATION)
YR-MH0005S-A00 (STANDARD SPECIFICATION)
YR-MH0005S-J00 (STANDARD SPECIFICATION)
Procedures described in this maintenance manual should be carried out by the person who took
the maintenance-relevant trainings offered by YASKAWA.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH5S/MH5F INSTRUCTIONS
MOTOMAN-MH5S II INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The controller operator’s manual above correspond to a specific usage. Be sure to use the appropriate manual.
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Copyright © 2018, 2016 Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa
customers to assist in the operation of Motoman robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2016
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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Table of Contents
MH5S(II)/MH5F
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 National Safety Standard for Industrial Robots and Robot Systems ................................. 1-2
1.2 Notes for Safe Operation ................................................................................................... 1-3
1.3 Definition of Terms Used Often in This Manual (DX100/DX200)....................................... 1-6
1.4 Definition of Terms Used Often in This Manual (FS100) ................................................... 1-7
1.5 Registered Trademark ....................................................................................................... 1-7
1.6 Explanation of Warning Labels .......................................................................................... 1-8
1.7 Safeguarding Tips.............................................................................................................. 1-9
1.8 Mechanical Safety Devices................................................................................................ 1-9
1.9 Programming, Operation, and Maintenance Safety......................................................... 1-10
1.10 Maintenance Safety .......................................................................................................1-11
1.11 Summary of Warning Information .................................................................................. 1-11
1.12 Customer Support Information....................................................................................... 1-12
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Battery Pack Connection ...................................................................................................2-1
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Return after Motor Replacement ............................................................... 3-2
3.1.1 Home Position Return by Robot Calibration (MOTOCALV EG) ........................... 3-2
3.1.2 Home Position Return by Setting the Teaching Point for
Home Position Setting before Replacement ........................................................ 3-2
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out........................................ 3-7
3.2.1 With the Home Position Calibration Function for Restoration from
the Battery Back Up ............................................................................................. 3-7
3.2.2 With the Return Keys (S-, L- and U-axes only) .................................................... 3-7
4 Grease Replenishment ................................................................................................................... 4-1
4.1 Grease Replenishment for S-Axis Speed Reducer ........................................................... 4-1
4.2 Grease Replenishment for S-Axis Gear ............................................................................ 4-2
4.3 Grease Replenishment for L-Axis Speed Reducer............................................................ 4-3
4.4 Grease Replenishment for U-Axis Speed Reducer ........................................................... 4-4
4.5 Grease Replenishment for R-Axis Speed Reducer ........................................................... 4-5
4.6 Grease Replenishment for B- and T-Axes Speed Reducers............................................. 4-6
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5 Disassembly and Reassembly of the Motor.................................................................................... 5-1
5.1 Disassembly and Reassembly of the S-Axis Motor ........................................................... 5-1
5.2 Disassembly and Reassembly of the L-Axis Motor............................................................ 5-3
5.3 Disassembly and Reassembly of the U-Axis Motor ........................................................... 5-6
5.4 Disassembly and Reassembly of the R-Axis Motor ........................................................... 5-9
5.5 Disassembly and Reassembly of B-Axis Motor ............................................................... 5-11
5.6 Disassembly and Reassembly of T-Axis Motor ............................................................... 5-13
6 Disassembly and Reassembly of Speed Reducer.......................................................................... 6-1
6.1 Disassembly and Reassembly of S-Axis Speed Reducer ................................................. 6-1
6.2 Disassembly and Reassembly of L-Axis Speed Reducer.................................................. 6-4
6.3 Disassembly and Reassembly of U-Axis Speed Reducer ................................................. 6-8
6.4 Disassembly and Reassembly of R-Axis Speed Reducer ............................................... 6-12
6.5 Disassembly and Reassembly of B-Axis Speed Reducer ............................................... 6-15
6.6 Disassembly and Reassembly of T-Axis Speed Reducer................................................ 6-19
7 Disassembly and Reassembly of Wrist Unit ...................................................................................7-1
8 Disassembly and Reassembly and Adjustment of Timing Belts .....................................................8-1
8.1 Disassembly and Reassembly of L- and U-Axis Timing Belts ........................................... 8-1
8.2 Disassembly and Reassembly of R-Axis Timing Belt ........................................................ 8-3
8.3 Disassembly and Reassembly of B- and T-Axis Timing Belts ........................................... 8-5
8.4 Adjustment of Timing Belts ................................................................................................8-7
9 Battery Pack Replacement.............................................................................................................. 9-1
9.1 Battery Pack Replacement ................................................................................................ 9-1
10 Cable Wiring................................................................................................................................ 10-1
10.1 Disconnecting Cables .................................................................................................... 10-1
10.1.1 Wrist Unit .......................................................................................................... 10-1
10.1.2 Casing and L-Arm............................................................................................. 10-2
10.1.3 S-Head and Base ............................................................................................. 10-4
10.2 Connecting Cables......................................................................................................... 10-6
10.2.1 S-Head and Base ............................................................................................. 10-6
10.2.2 U-Arm and Casing ............................................................................................ 10-6
10.2.3 Wrist Unit .......................................................................................................... 10-7
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MH5S(II)/MH5F
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-, U-Axes Unit .............................................................................................................. 11-4
11.3 R-Axis Unit..................................................................................................................... 11-7
11.4 Wrist Unit ....................................................................................................................... 11-9
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1 Introduction
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1 Introduction
MANDATORY
• This maintenance manual is intended to explain maintenance
procedures primarily for the MOTOMAN-MH5S(II)/MH5F.
• General items related to safety are listed in Chapter 1: Safety of the
DX100/DX200/FS100 Instructions. To ensure correct and safe
operation, carefully read the DX100/DX200/FS100 Instructions
before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating and maintenance this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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1 Introduction
1.1 National Safety Standard for Industrial Robots and Robot Systems
MH5S(II)/MH5F
1.1 National Safety Standard for Industrial Robots and Robot
Systems
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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1 Introduction
1.2 Notes for Safe Operation
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1.2 Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100/DX200/FS100.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly
the items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
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1 Introduction
1.2 Notes for Safe Operation
MH5S(II)/MH5F
<DX100/DX200>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100/DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
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1.2 Notes for Safe Operation
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<FS100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency.
Fig. : Emergency Stop Button
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and
16-17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
• Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 power.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem.
Turn
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1 Introduction
1.3 Definition of Terms Used Often in This Manual (DX100/DX200)
MH5S(II)/MH5F
1.3 Definition of Terms Used Often in This Manual
(DX100/DX200)
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and the manipulator cables.
In this manual, the equipment is designated as follows:
CAUTION
• Perform maintenance inspection with the specific person who took
the maintenance training course in YASKAWA.
Failure to observe this may result in electric shock or injury.
• When the maintenance inspection is performed, be sure to mount
the battery pack before removing the motor encoder connector.
Failure to observe this caution may result in disappearance of the home
position data.
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to a safe place after use.
The programming pendant may be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100/DX200/FS100 Instructions before operating the manipulator.
Equipment Manual Designation
DX100/DX200 controller Controller
DX100/DX200 programming pendant Programming pendant
Cable between the manipulator and the
DX100/DX200 controller
Manipulator cable
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1 Introduction
1.4 Definition of Terms Used Often in This Manual (FS100)
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1.4 Definition of Terms Used Often in This Manual (FS100)
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller,
manipulator cables, the programming pendant (optional), and the
programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
1.5 Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Equipment Manual Designation
FS100 controller Controller
FS100 programming pendant Programming pendant
Cable between the manipulator
and the FS100 controller
Manipulator Cable
FS100 programming pendant
dummy connector
Programming pendant
dummy connector
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1 Introduction
1.6 Explanation of Warning Labels
MH5S(II)/MH5F
1.6 Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
The warning labels of MH0005F-A00 are shown below as an example.
Warning label B
Warning label B
Nameplate
WARNING
Do not enter
robot
work area.
WARNING
Moving parts
may cause
injury
Warning Label B:
Nameplate Warning label A:
Warning label A
MADEINJAPAN
YASKAWAELECTRICCORPORATION
Kitakyushu806-0004Japan
2-1Kurosakishiroishi,Yahatanishi-ku,
SERIALNO.
PAYLOAD kg
TYPE
MASS
DATE
ORDERNO.
kg
MOTOMAN-
MODEL
NJ3878
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1 Introduction
1.7 Safeguarding Tips
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1.7 Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
1.8 Mechanical Safety Devices
The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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1.9 Programming, Operation, and Maintenance Safety
MH5S(II)/MH5F
1.9 Programming, Operation, and Maintenance Safety
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from Yaskawa will void the warranty.
• Some operations require a standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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1 Introduction
1.10Maintenance Safety
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1.10 Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by Yaskawa-
trained, qualified personnel.
1.11 Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by Yaskawa. Address any questions regarding the safe and proper
operation of the equipment to Yaskawa Customer Support.
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1 Introduction
1.12Customer Support Information
MH5S(II)/MH5F
1.12 Customer Support Information
If you need assistance with any aspect of your MH5S(II)/MH5F system,
please contact Yaskawa Customer Support at the following 24-hour
telephone number:
For routine technical inquiries, you can also contact Yaskawa Customer
Support at the following e-mail address:
When using e-mail to contact Yaskawa Customer Support, please provide
a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
Please have the following information ready before you call Customer
Support:
techsupp[email protected]m
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact Yaskawa Customer
Support at the telephone number shown above.
• System MH5S(II)/MH5F
• Primary Application ___________________________
• Controller DX200/DX100/FS100
• Software Version Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200/DX100/
FS100 controller data plate
[phone]
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2 Notes for Maintenance
2.1 Battery Pack Connection
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2 Notes for Maintenance
2.1 Battery Pack Connection
Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig. 2-1: Encoder Connector Diagram
NOTE
When performing maintenance such as replacement of a
wire harness in the manipulator, the encoder connector may
be necessary to be removed. In this case, be sure to
connect the battery pack to the battery backup connector
before removing the encoder connector.
Removing the encoder connector without connecting the
battery pack leads to disappearance of the encoder
absolute data.
Do not remove the battery unit on the base connector.
BAT4
0BT4
b
a
a
b
0BT
BAT
OBT
a
b
a
b
BAT
OBT4
BAT4
Connection
CAUTION
Connect battery to encoder
to save the data before
removing connector.
Motor
Encoder
Motor cable, etc.
Power connector
Encoder connector
CAUTION label
CAUTION
Connect battery to encoder
to save the data before
removing connector.
Connection Diagram
Battery pack
a: Crimped contact-pin (Socket)
b: Crimped contact-pin (Pin)
Wire harness
in manipulator
CAUTION Label (Enlarged View)
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3 Home Position Return
MH5S(II)/MH5F
3 Home Position Return
NOTE
In the following cases, perform calibration and set the
manipulator geometrical position.
• Change in the combination of the MOTOMAN and the
control unit
• Replacement of the motor or encoder
• Clearing stored memory
• Home position deviation caused by hitting the MOTOMAN
against a workpiece, etc.
• Replacement, disassembly, and reassembly of the main
parts such as speed reducers etc.
Before the calibration, be sure that the manipulator satisfies
the following conditions.
• No external force is exerted on the manipulator.
The hand and other parts attached to the wrist unit are
removed.
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3 Home Position Return
3.1 Home Position Return after Motor Replacement
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3.1 Home Position Return after Motor Replacement
3.1.1 Home Position Return by Robot Calibration (MOTOCALV EG)
The MOTOCALV EG allows the home position reset by teaching the five-
point-in-five-posture.
Refer to “MOTOCALV EG for Windows Operator’s Manual” (part number
152646-1CD) for details on the operation.
3.1.2 Home Position Return by Setting the Teaching Point for Home Position
Setting before Replacement
The DX100/DX200/FS100 holds the position data of the job program
(hereinafter called as JOB) as the pulse number from the home position of
each axis. Stated differently, the precise adjustment of home position
allows use of the JOB, which had been used before the motor
replacement, without correction even after the motor replacement.
This section explains how to set the FS100.
Preparation before Replacement
• Refer to the Fig. 3-1 “Preparation before Replacement (Example)”.
Before replacement, create the standard position (hereinafter called the
check-point) for home position adjustment after replacement. The check-
point must satisfy the conditions below. Furthermore, create the JOB so
that the manipulator safely moves to the check-point from the standby
position. (The JOB created in this manner will be hereinafter called the
check-JOB.)
The position should not be deviated by turning the power ON or OFF,
or lowering air pressure. Do not create the check point in the working
part of the tool (end effector) or the jigs (related unit including the rotary
table). It is recommended to use a specific jig if necessary.
Use pointed jigs to create the position so that the deviation is easily
found.
Keep a distance as long as possible from the rotational center of the
replacing axis.
Considering the moving direction of the replacing axis, create the
position at the point where any deviation is easily found and the axis will
not interfere with jigs even if it is deviated.
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