IAI MSEL, Instruction Manual, Page: 92 / 234

Chapter 4 Home-Return /
Absolute Reset
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6) Click on “Start” button while the [Axis 1 (J1)] or [Axis 2 (J2)] tab is selected, and a warning
window shows up. Release the emergency stop, check the content and click “Yes”.
Home-return operation starts on the axis subject to absolute reset.
Caution: As soon as clicking “Yes”, the home-return operation starts. The standard home
position is the posture stated in the beginning of this section.
In case there is any interference to peripheral equipment during the home-return
operation, the home-return operation completes at the position of interference,
and the proper home position cannot be acquired. In such cases, it may cause a
crash or unexpected operation, which could cause malfunction or critical
operation error to the robot or the peripherals. Make sure to secure enough space
for home-return posture to avoid any interference to the peripherals during the
home-return operation.
7) “Jog -> Basic position” window appears once the home-return operation is complete.
Press “ ← (-)” and “ → (+)” buttons to move the arm to a place near the datum position.
[Refer to the figure in Step (8) for the datum position] Also, change “Jog Vel (JOG speed)”
and “Inc. Distance (inching distance)” if necessary. Click “OK” once the arm gets near the
datum position. Click “OK” when moving the arm new the datum position manually by
hand.