IAI Msep, Instruction Manual

Page: 177 / 296

3.8 I/O Signal Controls and Function
169
(2) 360° Rotation Specification
Rotary Axis
1)
1)
2)
3)
4)
5)
6)
7)
8) 9)
10)
11)
12)
(Home
Position
Side)
(Opposite Side of
Home Position)
Home
(Forward Rotation End)
Offset Movement Amount
Datum Point for Offset
(Center of 6), 7), 9) and 10))
Home Sensor Detection Range
1) Once the home-return operation is started, the rotary part turns in CCW (counterclockwise)
from the view of the load side. The speed is either 20deg/s.
2) Home sensor turns ON.
3) Starts reversed rotation.
4) Goes back to a point exceeded the home sensor detection range, and confirms the home
sensor is turned OFF.
5) Starts reversed rotation.
6) Confirms the home sensor gets turned on again.
7) Goes to a point exceeded the home sensor detection range on the opposite side of the
home position, and confirms the home sensor is turned OFF.
8) Starts reversed rotation.
9) Confirms the home sensor turns ON.
10) Goes to a point exceeded the home sensor detection range on the home position side, and
confirms the home sensor is turned OFF.
11) Based on the result gained from 6), 7), 9) and 10), the center of the home sensor detection
range is calculated.
12) The actuator moves in a certain amount for each actuator from the position of 11) and stops
at the home position.
[For Gripper]
+
+
+
1)
2) 2)
Finger Attachment
(Note)
Finger Attachment
(Note)
1)
2)
1)
2)
1)
2)
1) The actuator moves toward the mechanical end (to end side) at the home return speed
(20mm/s).
2) The actuator is turned at the mechanical end and stopped at the home position. The
movement amount at this time is determined for each actuator and cannot be changed.
Note Finger attachment is not included in the actuator package. Please prepare separately.