IAI America ZR-M - Manual (Page 48)

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14. Appendix
14.1 Absolute Reset Method (Absolute Type Only)
When the ZR unit is connected to the controller for the first time, an absolute encoder battery voltage error
generates, or the encoder cable is removed, an encoder battery error will generate. In this case, an
absolute reset is required.
14.1.1 Preparation for Absolute Reset
Perform an absolute reset of the ZR unit from the ball screw spline adjustment menu of the PC software (or
teaching pendant). Also note that a jig is required to perform an absolute reset.
 Versions supporting absolute reset of ZR unit:
PC software (IA-101-X-**) Version V7.4.0.0 or later
Teaching pendant main application (IA-T-X/IA-T-XD) Version 1.5.0 or later
Teaching pendant main application (SEL-T/SEL-TD) Version 1.0.9 or later
 Absolute reset adjustment jig
Model: JG-ZRS (for ZRS)
JG-ZRM (for ZRM)
Connect the robot, controller and PC cables so that the robot can be operated from the PC software. Be
sure to check the operation of the EMG switch beforehand.
 Performing this procedure without a full understanding of inspection and maintenance tasks may
result in a serious accident causing injury or death.
 Put up a sign that says “WORK IN PROGRESS” to prevent other operators from inadvertently
operating the controller, operation panel, etc.
 Back up the parameters before the absolute reset.
Warning
Plate
Pin