IAI R-unit RSEL, Instruction Manual, Page: 474 / 844

Chapter 8 Home Return /
Absolute Reset
8.1 Home-Return / Absolute Reset for Single-axis
8-1
ME0392-4C
8.1 Home-Return / Absolute Reset for Single-axis
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 (home-return operation)
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 (home-return operation) conducted in the first time to start up the
system or after replacing the battery.
Encoder
Type
Mounted
Actuator Series
Timing to Have Home-Return and
Absolute Reset
Driver
Unit
Parameter
No.83
Section
to Pick
Up
Home-
Return
Absolute Reset
Incremental
RCP2 to 4, RCA,
RCA2, RCD,
RCS2 to 3, ISA,
ISB, SSPA, FS,
RS, NS, NSA
(Linear, rotary axis
and grippers)
When
power is
turned on
－ 0
[8.1.1]
[8.1.4]
Battery-less
Absolute
RCP5 to 6, RCA,
RCS2 to 4,
ISB, NSA
(Linear, rotary axis
and grippers)
－
• At motor replacement
• When absolute error
generated
1
[8.1.2]
[8.1.4]
Simple
Absolute
RCP2 to 4,
RCA, RCA2
(Linear, rotary axis
and grippers)
－
• At initial startup
• When the power to the
RSEL system is turned
OFF and battery is
replaced
• When the encoder cable is
taken off the driver unit
1
[8.1.3]
[8.1.4]
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].