SP210 / GP225 zeroing function

The zeroing function is an option that automatically restores the home position data when it disappears. A sensor is fitted to the manipulator, and the manipulator makes a small motion by itself to measure the home position again.

Applicable models

Only manipulators ordered with the zeroing function as an option. Controller: YRC1000.

Type	Models
YR-1-06VX225-***	GP225, SP210
YR-1-06VX180-***	GP180, SP165
YR-1-06VX180-120-***	GP180-120, SP165-105

When it is needed

The YRC1000 stores the home position from the pulse value of each axis encoder, and it is registered before shipment, so zeroing is not needed in normal operation. The home position data disappear in these cases, and zeroing restores them:

Replacement of motors
Replacement of encoders
Backup battery exhaustion of each axis encoder in the multiport

note

The home position data is kept by the backup battery. If the battery is exhausted, the data disappear again at power-off even after zeroing. Replace the battery periodically.
If the combination of the manipulator and the YRC1000 is changed, zeroing cannot set the home position accurately.

Components

Component	Type	Qty
Sensor	HW0381863-A	1
Amplifier	HW0381864-A	1
Lead wire	HW0470652-A	1
Communication cable	C232N-915	1
Communication interface	REX-USB60F	1

The communication interface goes into the USB slot of the programming pendant. The sensor, amplifier and communication interface are precision instruments; handle and store them with care.

Before the zeroing operation

Remove the tool. The weight of the tool can greatly affect the accuracy.
Management mode. The zeroing function is only valid when the security mode is set to the management mode.
A false zeroing operation may lead to a manipulator operation error.

Procedure outline

Connect the zeroing devices: insert the communication interface into the pendant USB slot, connect it to the amplifier with the communication cable, and connect the lead wire to the amplifier. Do not connect the sensor yet.
Open the sensor attaching part: with the servo power OFF, remove the plug and cover for the axis. Zeroing with the cover on can damage the sensor.
Home position alignment: in "TEACH" mode, line up the alignment marks of each axis. Clean any spatter, fume or rust from the sensor hole.
- For the B-axis, put the R-axis at home (0 pulse) first; for the T-axis, the R- and B-axes. Zero those axes first if they also need it.
Fit the sensor by hand (no tools, no excessive force) and connect the lead wire. Turn ON the amplifier power (if it has been ON for a long time, turn it OFF once and ON again).
Run zeroing: in "TEACH" mode select {Robot} - {Zeroing} and choose the axis. Turn ON the servo power with [SERVO ON READY] and the Enable Switch, press {Zeroing} and then {OK}. The manipulator moves automatically. The motion is very small and hard to see, so keep people away.
Finish: the pendant shows the completion message and the calculated absolute data. Turn OFF the servo power and the amplifier power, disconnect and remove the sensor (moving the manipulator with the sensor attached can damage it), and reinstall the plug and cover.
Confirm the position: select {Robot} - {Second Home Position}, press [FWD] to move the TCP there and check for deviation, then select {Data} - {Confirm Position}. Automatic operation by playback is not possible until the position is confirmed.
Before playback: in "TEACH" mode, check each taught point with FWD and do test runs.

Errors in the zeroing operation and solutions

Message	Error code	Contents	Operation
There is little depth of the hole or it is large.	55550004	Error in the hole depth data from the sensor	Check the hole for dust or spatter and the sensor for damage or a deformed end, then redo
Switch mode to teach.	—	Started in "PLAY" mode	Set the mode selector switch to "TEACH"
Keep servo on state in teach mode…	—	Servo power not ON at the start	Keep the servo ON (grip the Enable switch)
Loop Error [The maximum measurement point were exceeded.]	55550005	Error in the zeroing processing (parameters, starting point, etc.)	Contact YASKAWA
Loop Error [Acquiring a pulse went wrong.]	55550006	Error in communication (possibly software version mismatch)	Contact YASKAWA
Loop Error (start/stop robot operation, acquiring the sensor value)	55550008, 55550009, 55550010	Error in communication	Contact YASKAWA with the code
Error [Sensor Amp (Read():D1)]	55550044	Error in communication	Contact YASKAWA
Information (check amp power, RS-232C cable, battery)	—	Error in communication	Check the alarm lamp and cables, turn the amplifier OFF and ON, redo
Alarm : Sensor Amp (Battery)	—	Amplifier battery exhaustion	Replace the battery with a new one
Alarm : Sensor Amp (Write Error EEPROM) / (AD Over)	—	Possible amplifier failure	Contact YASKAWA
Error [Sensor Amp (Auto Zero:OK)]	55550046	Amplifier zero adjustment failed	Contact YASKAWA
Error [No CtrlGroup]	55550052	Controller without a robot control group	Use a controller with a robot control group
Error [No Axis]	55550056	Control group with no axis	Specify a control group with axes
Not Found : RS-232C USB	55550001	Communication interface not in the pendant slot	Insert it
Error [RS-232C Communication]	55550017–55550020	Error during amplifier communication	Contact YASKAWA
Error Occur	—	Zeroing stopped by an error	Remove the cause and start again
Operator Stop	—	[Stop] was pressed	Start again
Error [Any axis don't set ABSO.]	55550088	Error in the zeroing processing	Contact YASKAWA
Loop Error [The maximum moving pulse over.]	55550097	Error in the zeroing processing	Contact YASKAWA

The English manual adds one step: after {Robot} - {Zeroing}, select "S: S-axis" before choosing the axis to measure.

Source: based on YASKAWA manual HW1484429 (Japanese). English terms follow HW1484430.

Applicable models​

When it is needed​

Components​

Before the zeroing operation​

Procedure outline​

Errors in the zeroing operation and solutions​

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