IAI America RCS2-SD5N - Manual (Page 62)

8. Notes on Operation
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8.4 Home Return
8.4.1 Home Return Operation
[1] As the motor turns, the rod returns to the negative side (actuator frame side) and contacts the mechanical
stopper.
[2] The rod reverses and turns by rotating angle D to find the encoder Z-phase.
The distance from the mechanical stopper to the position
where Z-phase is detected is as follows.
Lead 2.5 mm 5 mm, 10 mm
Distance 1.7 mm 2 mm
[3] The rod turns by rotating angle E from the position where the Z-phase was detected, and the attained offset
position (the offset conform to an applicable parameter value) is set as the home (points zero).
Z-phase detection sensor (mount side)
Mechanical stopper
Z-phase
Encoder disk (rotating side)
Z-phase detection sensor (mount side)
Rotating angle D
Z-phase detection sensor (mount side)
The offset from the position where the Z-phase is
detected to the home is 1.0 mm.
Rotating angle E