IAI IA-101-TT-USB, Operation Manual

Page: 261 / 392

13. How to Reset an
Absolute Encoder
253
[Initial posture]

Arm1, Arm 2
Considering the stopper pressing position, adjust the posture to either of right arm system or left arm
system. When the product is delivered, it is set to the right arm system. Adjust to the right arm system.
In case the arm interferes with the peripheral in the right arm system, set it to the left arm system in
advance, conduct “stopper pressing position acquirement” and then adjust to the left arm system.
[Refer to 13.3.2 How to Acquire the Stopper Interfering Point]
Arm 2 =
Negative direction of coordinate
Arm 1 =
Positive direction of coordinate
Arm 1 =
Negative direction of coordinate
Arm 2 =
Positive direction of coordinate
Fig. 13.56 Initial Posture
For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position Error” may
occur at operation.

Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error” may occur at
operation.

Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.
Initial posture of left arm system
Arm 1 = Positive direction of coordinate
Arm 2 = Negative direction of coordinate
Initial posture of right arm system (At the delivery)
Arm 1 = Negative direction of coordinate
Arm 2 = Positive direction of coordinate