IAI America IX-NSN6016H - Manual (Page 127)

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12. Inspection/Maintenance
Reference Posture for Arm Length 500/600, 700/800
(6) Press the emergency-stop switch.
(7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm 1 to secure the arm in its
reference position. You can move arm 2 when securing arm 1. When performing an absolute reset of arm 2,
set the adjustment jig (pin) on arm 2 to secure the arm in its reference position. You can move arm 1 when
securing arm 2.
x Set the jig after confirming that the emergency-stop switch is pressed.
x Set the jig after adjusting the arm to the reference position, using the positioning mark label as a guide.
x Arm 1 has a cover (not arm 2), which is fixed with setscrews. Remove the setscrews and detach the
cover before setting the jig.
x 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
r1 graduation” is ensured.
x For an absolute reset of arm 2 whose length is 120, rotate arm 1 straight to side according to the basic
posture shown in Fig. 13.17 and set the jigs.
z 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.
Warning
Arm 1
(arm length 500/600, arm length 700/800)
Arm 2
(arm length 500/600, arm length 700/800)
Adjust both arms 1 and 2 to
positions within
r1
Positioning mark
label for arm 1
Positioning mark
label for arm 1
Positioning mark
label for arm 2