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MRS6105GB.0.UTOC.fm
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1. General
Rotation amount (Multi Turn Data) memorized in servo motor encoder disappears when the control power supply is turned OFF. This function provides the feature of recovering of the Home position.
Info
For more detail information concerning home position setting, see System setup manual. (Motoman document No. MRS6101).
2. Function
Explanation of the principle of Battery backup alarm recovery function. Motor position PMH is shown by the following expression as an absolute data when home position calibaration is done. PMH = (N1 [turn] x PPR) + P1. N1 = Multi turn data at home position calibration PPR = Pulse per revolution of the encoder P1 = Encoder value in a turn at home position calibration Multi turn data of encoder disappears when control power supply is turned off. To recover this, at first operate the robot arm to the home position. Then, you can use the Battery backup alarm recovery. Absolute data PNEW is the following expression. PNEW = (N2 [turn] x PPR) + P2 N2 = Multi turn data at new home position calibration P2 = Encoder value in a turn at new home position calibration Even if the multi turn data disappears, the encoder value in a turn should be the same as the encoder value in a turn P1 at the position where home position calibration was done first. Actual absolute data PTRUE is the next expression. PTRUE = (N2 [turn] x PPR) + P1
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3. Data recovery
1. 2. 3.
Alarm 4311 ENCODER BACK-UP ERROR is generated when absolute data is lost. Reset the alarm. Move the axis for the arm for which the alarm is generated to the home position. Match the key slots, see picture. The mismatch must not be more than 5 to 7 mm.
Match
Mismatch
4. 5. 6.
Enter MANAGEMENT MODE. Enter code >99999999<. Select {ROBOT} on the top menu. Select {HOME POSITION} on sub-menu to display original position calibrating screen.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S * L * U R 1277 -189 B T 1153
Main Menu
ShortCut
7. 8.
Move cursor to {MENU AREA} using the area key. Select {UTILITY} on menu to display the pull-down menu.
Note!
This pull-down meny (Backup battery alarm recovery function) does not show if alarm 4311 hasnt been activated.
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9.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S 965 L 968 U R ------------------B T ----------
Main Menu
ShortCut
10.
Select the axis you would like to modify and press {ENTER} to display confirmation dialogue. If no absolute data is shown in the menu the confirmation display is not shown.
11.
When YES is selected the home position is set for the selected axis. As confirmation, the mark is changed to OK and absolute data becomes ---. Repeate the steps for each axis to be set.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ---------DATA EDIT DISPLAY UTILITY
Main Menu
ShortCut
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ----------
Main Menu
ShortCut
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12.
When you completed setting for all axes where the alarm is generated display changes to Home position menu.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S 965 L 968 U R 1277 -189 B T 1153
Main Menu
ShortCut
4. Confirm position
1. 2. 3. 4. 5. 6.
Move the axis for which the alarm was generated to its home position (0 pulse position) again. Go to {ROBOT} and {CURRENT POSITION}. Move the robot with the axis keys. Confirm position of the key slots. If the slots match each other, everything is OK. If the slots mismatch about 7 to 10 mm, the servo motor encoder is one turn wrong. To adjust, add or subtract 4096 pulses to/from the absolute data for this axis. Check position once more.
Info
One turn of the servo motor (encoder) corresponds to 4096 pulses.
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Notes
Headquarters: Sweden
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Optimove AS
Industrigata 6, P.O. Box 534, NO-3412 Lierstranda, Norway Tel: +47-32240600, Fax: +47-32240601
South Africa
Switzerland
Messer SAG
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Turkey
RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia Tel: +386-61-861113, Fax: +386-61-861227
Sweden
www.motoman.se
info@motoman.se