IAI America RCS3PCR-SS8C - Manual (Page 165)

11. Maintenance and Inspection
[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 when the SCON controller is being used, use home return offset distance of
parameter No. 22 to make corrections. If the SSEL or the X-SEL controller is being used, use home preset
value of axis-specific parameter No. 12 to make corrections.
In addition, after changing the parameter, perform homing → absolute reset.
[Home Return Offset Distance (SCON) and Home Preset Value (SSEL and X-SEL) Correction Example]
If, after the motor replacement, the home position became deviated by 0.1 mm in the direction of moving away
from the mechanical end.
In this case, to align it with the initial home position when the SCON controller is being used, reduce the home
return offset distance of parameter No. 22 by 0.1 mm. If the SSEL or the X-SEL controller is being used, reduce
the home preset value of axis-specific parameter No. 12 by 0.1 mm.
(Change from 2.5 mm to 2.4 mm.)
Initial Z-
phase
Mechanical end
Distance from mechanical
end to Z-phase
Home return offset
distance (SCON)
Home preset value
(SSEL or X-SEL)
Deviation: 0.1 mm
2.5 mm
[Setting at shipping
inspection]
Z-phase after
motor replacement
Initial
home
Home after motor
replacement
2.5 mm
[Setting at shipping
inspection]