IAI IA-101-X-MW, Operation Manual

Page: 343 / 392

13. How to Reset an
Absolute Encoder
334
[Initial posture]
◎
Arm 1 and Arm 2
Remove all the interferences of the peripheral devices, and set the posture to either of the left arm system
or the right arm system. It is set to right arm system when the unit is shipped out.
Fig. 13.221 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.
Arm 2 = Negative Direction of
Coordinate
Arm 2 = Positive Direction of
Coordinate
Arm 1 = Positive Direction of
Coordinate
Arm 1 = Negative Direction of
Coordinate
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
335
[Initial posture]
◎
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 “Stopper Pressing Operation Start Position Error” may occur at
operation.
Fig. 13. 222 Initial Posture
◎
Rotation axis (For 4-Axis Type Only)
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.
Fig. 13 223 Initial Posture
Vertical Axis =
Negative Direction of Coordinate