3.

2 Performing Encoder Reset and Encoder Correction

3.2 Performing Encoder Reset and Encoder Correction

Encoder reset and encoder correction (previously referred to as the ABSO setting) are performed in order to
adjust the home positions of the robot's axes.
These tasks must be carried out when the robot is shipped from the factory and whenever a motor is replaced
(including when a mechanism main unit is replaced).
Upon completion of the encoder correction, the basic posture check program is prepared.This program
corresponds to the conventional P999 or P9999.Prepare the program using the same number of 9999 for the
AX control unit as well.

In some robots and servo guns that apply the servo motors, encoder reset cannot be
executed on Teach pendant. With these models, special operation is required to
execute encoder reset.
For the details on how to execute encoder reset, refer to each instruction manual.
CAUTION

< Relevant models >

࡮MV50/MW160
࡮Servo guns driven by Panasonic MS152Q2D and MS252Q2D


Moving to the basic posture and selecting the menu items

 1 Select the teach mode.

 2 Turn on the servo power supply.

 3 Perform manual operations in such a way that all the robot's axes are aligned with
the mark-off lines on the castings.
* The encoder reset and encoder correction positions are not index mark
positions. (Index marks have been discontinued with the AX control unit.)
If an index mark is adhered at the home position of an axis, peel it off (and
adhere it elsewhere) to reveal the mark-off lines underneath, and then proceed
with the manual operations.

4 Press <Constant Setting>, and select [3 Machine Constants] and [4 Encoder
Correction].
 㻦This has the effect of selecting the encoder correction & reset screen.
Now proceed with the encoder reset and encoder correction operations. (These are
described on the next and subsequent pages.)
The screen that appears when the menu is selected is the screen on which the
encoder correction is performed.The encoder correction or encoder reset operation is
selected on this screen.






3-2 Maintenance Manual (Software) 

 3.2 Performing Encoder Reset and Encoder Correction

Resetting the encoder

1 To reset the encoder, press f9 <Encoder Reset>.
㻦The encoder reset screen is selected.




2 To reset all the axes at once, press f8 <All Select>.
㻦All the axes are selected, and check marks appear for them.
 The selected status can be released by pressing f8 <All Release>.



10 3 To reset a specific axis only for replacing a motor, for instance, select the axis, and
'0#$.'㧗
  press [ENABLE] + [1].
㻦A check mark appears for the selected axis.

To release the selected axis, press [ENABLE] + [2].

4 When the axis to be reset is selected, press f12 <Execute>.

If the robot axes are not equipped with a brake, press f12 <Execute> while keeping
 the servo power on. (If all the axes of the robot are equipped with a brake, this
operation may be performed with the servo power off.)




Maintenance Manual (Software) 3-3

3.2 Performing Encoder Reset and Encoder Correction

Correcting the encoder

1 Upon completion of the encoder resetting, proceed with the encoder correction.
Press f9 <Encoder Correct>.

㻦The screen which appeared immediately after [3 Machine Constants] and [4 Encoder
Correction] were selected is restored.
 2 Either "Data Input" or "Position Record" can be used as the method for encoder
correction.
"Position Record" is normally used.

Compensation
Details
method

Position Select this method at a production process or when a motor or

Record  mechanism is to be replaced.
Be absolutely sure to perform the operations with the robot placed in
a posture where the mark-off lines are aligned.
The correction value is input by pressing
[Enter] followed by [REC]. (These values
are input for each axis.)

Angle (deg.) of each axis

Encoder value (in hexadecimal

notation) after correction

Data Input Use this method when the encoder correction values are already
known.
An "encoder correction value which is already known" is a
post-mastering encoder correction value which is provided inside
the control unit when the robot is shipped from the factory.It
corresponds to what was referred to as the "manipulator adjustment
value" in the past.
Therefore, the times when the encoder correction values are input
after shipment are as follows:
• When the encoder battery has been replaced
• After the memory has been formatted
When these values are input, it is acceptable for the robot to be in
any position and any posture.
The encoder correction value is
input (in decimal notation) here.

Angle (deg.) of each axis

Encoder value (in decimal

notation) after correction




3-4 Maintenance Manual (Software) 

 3.2 Performing Encoder Reset and Encoder Correction

3 The "Position Record" method is described here.

Press f8 <Record Position>.

 㻦The screen now changes.




'PVGT

4 Align the cursor with the axis whose encoder is to be corrected, and press [Enter]
194+6'
 followed by [REC].
4'% 
If the robot axes are not equipped with a brake, press [REC] while keeping the
servo power on. (If all the axes of the robot are equipped with a brake, this
operation may be performed with the servo power off.)
* Encoder correction cannot be implemented for all the axes together so repeat these
operations for each axis in turn.

5 At this stage, the encoder correction values are still not saved in the memory.
To save them, first turn the motor power OFF (by pressing emergency stop).

 Then press f12 <Complete>. 






Maintenance Manual (Software) 3-5