IAI America RCS3PCR-SS8C - Manual (Page 156)

11. Maintenance and Inspection
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10) Correct the position deviation.
[Incremental encoder]
[1] Check the home position.
Turn on the controller power.
Use the PC software or teaching pendant to perform homing to check the home position. Repeat homing
several times to confirm that the actuator returns to the same position every time.
[2] Check the amount of position deviation.
The home position may have shifted slightly after the motor replacement.
To check the amount of position deviation, select a desired position number appropriate for checking the
deviation after the motor replacement, perform positioning to the selected position, and measure the
amount of deviation.
[3] Correct the deviation.
If there is a deviation from the initial home position when the SCON controller is being used, make
corrections using home return offset distance of parameter No. 22. If the SSEL or the X-SEL controller is
being used, make corrections using home preset value of the axis-specific parameter
No. 12.
[Absolute encoder]
[1] Check the home position.
Turn on the controller power.
When the controller is turned on for the first time after the motor has been replaced, a battery voltage low
alarm should generate. Reset this alarm.
Next, use the PC software or teaching pendant to perform homing, and then perform an absolutes reset.
Thereafter, repeat homing several times to confirm that the actuator returns to the same position every time.
[2] Check the amount of position deviation.
The home position may have shifted slightly after the motor replacement.
To check the amount of position deviation, select a desired position number appropriate for checking the
deviation after the motor replacement, perform positioning to the selected position, and measure the
amount of deviation.
[3] Correct the deviation.
If there is a deviation from the initial home position when the SCON controller is being used, make
corrections using home return offset distance of parameter No. 22. If the SSEL or the X-SEL controller is
being used, make corrections using the home preset value of axis-specific parameter
No. 12.
In addition, after changing the parameter, perform homing � absolute reset.