IAI IA-101-TT-USB, Руководство по эксплуатации

Страница: 274 / 392

13. How to Reset an
Absolute Encoder
266
3) Adjust each axis to the initial posture. The posture differs depending on the movement direction. Click
on “Display the explanation of initial posture” to check the explanations. Make to work on with the
emergency stop activated when moving the axes with hand. Click on the “OK” button after the work is
finished.
Fig. 13.83 Confirmation Window
[Initial posture]

Arm1, Arm 2
Remove all the interferences of the peripheral devices, and set the posture to either of the left arm
system or the right arm system. It is set to right arm system when the unit is shipped out.
Arm 2 =
Negative direction of coordinate
Arm 1 =
Positive direction of coordinate
Arm 1 =
Negative direction of coordinate
Arm 2 =
Positive direction of coordinate
Fig. 13.84 Initial Posture
For the position, put it apart from the stopper position for 10deg or more.
Setting it too close to the stopper, Error No. B0D “Push Stopper Operation Start Position Error” may
occur at operation.

Vertical Axis
For the position, put it apart from the coordinate 0mm (upward end) for 10mm or more.
Setting it at 10mm or less, Error No. B0D “Push Stopper Operation Start Position Error” may occur at
operation.

Rotation axis
There is no specific indication for the position of rotation shaft. It can be set at any position.
Initial posture of left arm system
Arm 1 = Positive direction of coordinate
Arm 2 = Negative direction of coordinate
Initial posture of right arm system (At the delivery)
Arm 1 = Negative direction of coordinate
Arm 2 = Positive direction of coordinate