IAI Msep, Instruction Manual

Page: 218 / 296

Chapter 5 I/O Parameter
210
[16] Home return offset level (Parameter No.16)
No. Name Symbol Unit Input Range
Default factory
setting
16 Home return offset level OFST
mm
[deg]
0.00 to 9999.99
In accordance
with actuator
An adjustment is available for the following cases.
1) Want to match the actuator home position and the mechanical origin of the system.
2) Want to set a new home after reversing the factory-set home direction.
3) Want to eliminate a slight deviation from the previous home position generated after
replacing the actuator.
[Adjustment Process]
1) Homing execution
2) Offset check
3) Parameter setting change
4) After the setting, repeat home return several times to confirm that the actuator always
returns to the same home position.
Caution : If the home return offset has been changed, the soft limit parameters must
also be adjusted accordingly.
Do not set a smaller value than the initial setting value for Home Return
Offset. Normal excitation detection cannot be performed, and there may be a
risk of generating the excitation detection error or causing abnormal noise.
In case the there is a necessity of setting a value less than the initial setting,
contact IAI.
[17] Home return direction (Parameter No.17)
No. Name Symbol Unit Input Range
Default factory
setting
17 Home return direction ORG –
0: Reverse
1: Forward
In accordance
with actuator
Unless there is a request of Home Reversed Type (option), the home-return direction is on
the motor side for the line axis, counterclockwise side for the rotary axis and outer (open)
side for the gripper. [Refer to the coordinate system of the actuator.]
If it becomes necessary to reverse the home direction after the actuator is installed on the
machine, change the setting.
Caution: The home direction cannot be changed for the rod type and rotary type
actuators.
[18] Simple absolute unit (Parameter No.18)
No. Name Symbol Unit Input Range
Default factory
setting
18 Simple absolute unit ETYP –
0: Enabled
(Incremental)
1: Disabled (Simple
Absolute Type)
0
Set to 1 if simple absolute type and 0 if others.