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

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13. How to Reset an
Absolute Encoder
277
5) Conduct absolute reset on [Axis 1 (J1)] or [Axis 2 (J2)].
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”. When Each Axis
Parameter No.10 “Home-Return Method” is set to 2 “Home position = Home preset value set”,
conduct the absolute reset, not home-return operation. (Proceed to 6).) When it is set to 0 “Z-phase
search after end search”, start the home-return operation for the axes subject to absolute reset.
Fig. 13.108
Caution:  Pay attention as the home-return operation starts as soon as clicking “Yes”. The
standard home position should be the posture below. Make sure to secure enough
area for home-return posture and not to have interference to peripheral
equipment.
 The home-return operation is to be conducted with the revolution limiting stopper
when revolution limitation is to be performed. [Refer to 1.2.2 Operation Range and
Operation Limit]
In this case, check that the home-return posture can be performed, and there is no
interference to peripheral equipment.
 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
malfunction of robot or peripheral equipment or critical operational error such as
crash or expected operation cannot be made.
Vertical Axis
Mechanical
Stopper
Position
Vertical
Axis Home
Position
J1 Axis Home
Position
130 deg
130 deg
J2 Axis Home
Position
J2 Axis
Mechanical
Stopper
Position
J1 Axis Mechanical
Stopper Position