IAI IA-101-TT-USB, Operation Manual

Page: 270 / 392

13. How to Reset an
Absolute Encoder
262
13.4.2 How to Acquire the Stopper Interfering Point
In the following case, conduct “Stopper pressing position acquirement
(Note 1)
” before having the absolute
reset.

When the absolute reset cannot be performed in the direction of the stopper interfering movement
with the initial posture at the delivery from the factory due to such reasons as interference to the
peripheral equipment

There was a change in the stopper position due to such reasons as a removal of the stopper of the
vertical axis
Note 1 In case that the absolute reset cannot be performed with the stopper pressing movement
direction of the initial posture set at the delivery due to such as interference with peripheral
devices, change the setting to the initial posture of the left arm system (stopper pressing direction
on opposite side) and conduct the stopper pressing position acquirement.
Fig. 13.75 Initial Posture of Left Arm System
(Reference)
Fig. 13.76 Initial Posture of Right Arm System
Initial Posture of Left Arm System (Opposite interfering direction)
Arm 2 =
Negative Coordinate
Direction
Arm 1 =
Positive Coordinate
Direction
The direction of interfering is as shown below in the initial setting at the delivery from the
factory.
Arm 2 =
Positive Coordinate
Direction
Arm 1 =
Negative Coordinate
Direction
Vertical Axis =
Negative Coordinate Direction
Rotation Axis =
Negative Coordinate Direction
Initial Posture of Right Arm System