IAI America XSEL-S - Manual (Page 280)

Chapter 5 Special Functions
5.3.2 How to
Absolute Reset on Synchronizing
Type
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[4] Preparation for and Process of Re-execution of Absolute Reset
[Important]
In case that absolute reset has to be conducted again for such reasons as a trouble, follow the
instruction below to perform the reset.
(1) Home preset in Step 8.5.3 (5) is not necessary if the connection of the mechanical links is in
the same condition as when the device is booted (at 1st absolute reset) (for cable
replacement, cable disconnect/insert or battery replacement, etc.). After finishing the
procedure in Step 8.5.3 (4), proceed to Step 8.5.3 (6) to have an operation check. If there is
no problem found in the checking, the process for the absolute reset is complete.
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(2) There is rarely a case that a misalignment in the coordinate display of the slave axis after
the absolute reset for the amount close to the ball screw lead length occurs. This is a
phenomenon that could occur at absolute reset when the encoder of the slave axis is near
the Z-phase.
The current coordinate is shown by the encoder counting the number of rotation with the
Z-phase and adding one rotation of the absolute value. Therefore, the encoder identifies as
a movement of one rotation is made if it passes the Z-phase.
In such a case, repeat the absolute reset until the misalignment of the coordinate display of
the slave axis is adjusted.
The misalignment can be solved as soon as the same condition as the startup is detected.
If the misalignment of the coordinates cannot be fixed even after several times of absolute
reset, see the following and give it a try.
1) Turn the servo off on the master axis and the slave axis, and move them manually with
hands to the position marked in Step 8.5.3 (6) at the initial startup.
2) Read the coordinates of the master axis and slave axis at this time. The picture below is
for when the 1st axis is the master and 2nd is the slave.
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3) Calculate the following numbers, re-adjust the home preset value and establish the settings
for “Each Axis Parameter No. 12 Home Preset” on the slave axis.
A. If Coordinate of Master Axis – Coordinate of Slave Axis > 0 � Add lead length to
current home preset value
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B. If Coordinate of Master Axis – Coordinate of Slave Axis < 0 � Subtract lead length
from current home preset value
C. If Coordinate of Master Axis – Coordinate of Slave Axis � 0 � Use current home
preset value as it is
Caution: If a change is necessary on the home preset value for a fine-tuning of a slave
axis at the startup, record and keep the home preset value before the change by
following the method mentioned in 8.5.3 (5).
When the absolute reset is executed again, put the home preset value back to
this value to have the absolute reset process, and then put it back to the current
home preset value.
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Coordinate of Master Axis Coordinate of Slave Axis