IAI America RCS2-A6R - Manual (Page 54)

4. Maintenance Inspection
48
(6) Remove the pulley cover using Allen wrenches, 2.5mm across flats.
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(7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of
absolute encoder specification, an absolute reset must be performed.)
Check for deviation from the initial home position.
If there is a deviation, adjust the home offset if you are using a parameter.
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M3 hexagon socket head screws