IAI MSEL, Instruction Manual, Page: 19 / 234

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8. Regarding Battery-less Absolute Type Actuator at the Excluding of the SCARA
Axis
The battery-less absolute type actuator can have the setting switched over between the
absolute type and incremental type with the parameters.
 Parameter No.38 Encoder ABS/INC Type
Set to 0 = Incremental Type
Set to 2 = Absolute Type
9. Regarding Battery-less Absolute Type Actuator
1)
For the first time to turn the servo on after turning on the power, it will have slight position
adjustment due to the characteristics of the stepping motor.
At that time, the current position displayed on the teaching tool before turning the servo on
is the coordinates before adjustment operation. Shown below is the maximum amount of
movement.
Linear Drive Axis
:
Actuator Lead Length
× 0.025 [mm]
SCARA Axis
: J1, J2
Axis
4.9[mm] ꞏ ꞏ
Arm Length
350mm Type
4.3[mm] ꞏ ꞏ
Arm Length
450mm Type
Vertical Axis
0.2[mm]
Rotary Axis
2.7deg
2)
After the first time the servo is tuned on after the power has been supplied, the home-return
complete signal and the limit switch output signal (LS) are output.
3)
When the first servo-on is conducted out of the soft limit range, an error would not be
output.
Soft limit monitoring starts after it is moved into the range.