IAI IA-101-TT-USB, Operation Manual

Page: 325 / 392

13. How to Reset an
Absolute Encoder
317
[Initial posture]
◎
Arm1 and 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 Procedure for Stopper Pressing Position Acquirement Operation.
Fig. 13.179 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 “Stopper Pressing Operation Start Position Error” may
occur at operation.
Initial posture of left arm system
Arm 1 = Movement in Positive Side of Coordinate
Arm 2 = Movement in Negative Side of Coordinate
Initial posture of right arm system (At the delivery)
Arm 1 = Movement in Negative Side of Coordinate
Arm 2 = Movement in Positive Side of Coordinate
Arm 2 = Negative Direction of
Coordinate
Arm 2 = Positive Direction of
Coordinate
Arm 1 = Positive Direction of
Coordinate
Arm 1 = Negative Direction of
Coordinate