IAI IA-101-TT-USB, Operation Manual

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13. How to Reset an
Absolute Encoder
299
13.6.2 Ball-screw spline adjustment on ZR unit (Incremental type)
Normally, adjustment of the ball-screw spline is not required.
Perform it only when the combination of the main unit and the controller is changed because the ZR unit or
controller is changed.
[1] Ball-Screw Spline Adjusting Preparation
The absolute rest jig is required for the adjustment of the ball-screw spline for the ZR unit.

Versions supporting ball-screw spline adjustment on ZR unit: V7.4.0.0 or later

Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)
JG-ZRM (for ZRM)
Fig. 13.146
Connect the cables for the robot, controller and teaching pendant to enable operation from the teaching
pendant.
Before proceeding, be sure to confirm that the EMG switch operates properly.

Carrying out any inspection or maintenance work without fully understanding the work may result in
serious injury.
 Put up a sign that says “Work in Progress” so as to prevent other operators from accidentally operating
the controller, operation panel, etc.

Back up the parameters before the ball-screw spline adjustment.
Warning
Plate
Pin