IAI IA-101-TT-USB, Operation Manual

Page: 337 / 392

13. How to Reset an
Absolute Encoder
329
13.8.2 Procedure for Stopper Pressing Position Acquirement Operation
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.
Initial Posture of Left Arm System (Opposite interfering direction)
Fig. 13.210 Initial Posture of Left Arm System
(Reference)
Fig. 13.211 Initial Posture of Right Arm System
Arm 2 = Negative Direction of
Coordinate
Arm 1 = Positive Direction of
Coordinate
Arm 2 = Positive Direction of
Coordinate
Arm 1 = Negative Direction of
Coordinate
Vertical Axis =
Negative Direction of Coordinate
Rotation Axis =
Negative Direction of Coordinate