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ATC Arm Home Position Adjustment

Setting the home position
Obtain the home position of the ATC unit, and then align the ATC arm.
1) Set the PLC parameter R2105 bit E to "1" and turn off the power, which validates the
ATC home position setting.
2) Turn on the power again, and press the MACHINE key in the manual mode to call up
the machine menu.

3) Press the F0 menu key and then press the menu selector key. Another menu will be
called up.

4) Call up the Memory Monitor screen, and check the home position of the ATC unit with
the value indicated in the address D0355.
Select the menu selector key, DIAGNOSIS key, VERSION key and Memory Monitor key
in this order. Place a cursor on the item of "ADDRESS" of the I/O Monitor and input
D0355.

5) Check the position where the ATC arm starts to move.

Press the ATC ARM 0 deg. menu key to set the ATC arm to the 0-degree position.

Press the ATC ARM MTR CW menu key while holding down the MF1 key.

The value of the address D0355 changes. (Value: 9 (example below))

Press the ATC ARM 0 deg. menu key again to set the arm to the 0-degree position, and
press the ATC ARM MTR CCW menu key while holding down the MF1 key. (Value: 357
(example below))

Agree the differences between the above values and 0 deg. or 360 deg. respectively.
The difference in the positions where the ATC arm starts to move = [9 + (360 - 357)] /2 = 6
The position where the ATC arm is shifted by 6 from the 0-degree position is the electrical
home position of the ATC arm.
Align the ATC arm by pressing the ATC ARM MTR CW menu key.
6) Once the ATC arm has been positioned properly, press the ATC ORIGN menu key while
holding down the MF1 key.

7) Press the ATC ARM ORIG SET menu key while holding down the MF1 key.
* The ATC ARM ORIG SET menu key starts to blink.

8) Keep pressing the ATC ARM MTR CW or ATC ARM MTR CCW menu key while
holding down the MF1 key.

* Keep pressing the ATC ARM ORIG SET menu key until the key gets lit up from blinking
.

9) Turn off the power (and wait for 10 seconds or so) and turn it on again.
10) Press the ATC ARM ZERO RTN menu key to bring the ATC arm home.

11) Make sure again on the Memory Monitor screen that the ATC arm is in the proper
position.
12) Align the ATC arm. (Tolerance: 0.3 mm)

If the value is out of tolerance, loosen the power lock for adjustment. (Power lock
tightening torque: 410 kgfcm [per bolt])

13) Check again whether or not the value is within the tolerance.
14) Set the parameter R2105 bit E back to "0", and turn off the power to invalidate ATC
home positioning.