IAI America IX-INN8040 - Manual (Page 52)

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6. Inspection/Maintenance
(6) Press the emergency-stop switch.
(7) Set an adjustment jig (pin) in arm 1 or 2 to fix the arm at the reference position.
 Set the jig after confirming that the emergency-stop switch is pressed.
 Set the jig after adjusting the arm to the reference position, using the positioning mark label as a
guide.
 Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach
the cover before setting the jig.
 It is recommended that an adjustment jig be used to perform an absolute reset. With arm 1 or 2,
however, rotation data can be reset as long as a positioning accuracy of “center of positioning mark
label 1 graduation” is ensured.
 Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may
cause the robot to malfunction and result in a serious accident.
Positioning
mark label
for axis 1
Adjust arm 1 or 2 to a
position within ± 1
graduation of the center.
Reference position drawing
Arm 1
Arm 2
Warning
Positioning
mark label
for axis 2
Positioning
mark label
for axis 1