
Chapter 4 Home-Return /
Absolute Reset
77
Chapter 4 Home-Return / Absolute Reset
There are three types for the encoder to measure the current position of the actuator.
1) For Incremental Type, it is necessary to conduct home-return operation when the power is
turned on.
2) For Battery-less Absolute Type, it is necessary to absolute reset only when in motor
replacement and in an occurrence of an absolute error.
3) The coordinate data is retained in the battery backup for Simple Absolute Type. Even though it
is not necessary to performance a home-return operation each time, it is necessary to have an
absolute reset conducted in the first time to start up the system or after replacing the battery.
Timing to Have Home-Return
and Absolute Reset
Encoder
Type
Mounted Actuator
Series
Home-Return
Absolute Reset
Setting
in Each
Axis No.
38
Section
to Pick
up
Incremental
RCP4 to 2
(Linear, rotary
axis and
grippers)
When
power is
turned on
0 4.1
RCP5, RCP6
(Linear, rotary
axis and
grippers)
2 4.2
Battery-less
Absolute
IXP
(SCARA Robot)
•
At motor replacement
•
When absolute error
generated
2 4.3
Simple
Absolute
RCP4 to 2
(Linear, rotary
axis and
grippers)
•
At initial startup
•
When the power to the
controller is turned OFF and
battery is replaced
•
When the encoder cable is
taken off the controller
2 4.4
Described below is the procedure for each. (In this manual, states the procedure for the PC
software. For how to treat and process on a teaching pendant, refer to an instruction manual for
each product)
4.1 Home-Return Preparation (Incremental Type)
1) Turn OFF the power to the controller.
2) Connect the controller and PC to a teaching tool with a dedicated cable.
3) Turn ON the power to the controller, and connect a teaching tool such as the PC software.
4) Confirm that there is no error generated (and “rdy” is displayed on the 7-seg LED panel
window).
5) After pressing the servo-ON button, press the home-return button. Once the home-return
operation is complete, the home position gets established.
Summary of Contents for MSEL
Page 1: ...MSEL Controller Instruction Manual Fifth Edition ...
Page 2: ......
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Page 30: ...22 ...
Page 44: ...Chapter 1 Specifications Check 36 ...
Page 102: ...Chapter 4 Home Return Absolute Reset 94 ...
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