IAI America RCAW - Manual (Page 84)

4. Maintenance
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5) Move the rod to a position where Z phase turns on (home position).
This corresponds to a position where the rod projects 2 mm from the mechanical end.
Apply countermarks in this position.
Warning: If the actuator is installed vertically, move it after turning on the controller power and
forcibly releasing the brake. At this time, beware of danger as the actuator may drop
suddenly.
Always provide a support to brace the actuator hand to prevent sudden drop, so as not to
pinch fingers or damage the load.
6) Check the following points before restoring the home position:
y The motor side should be aligned with the initial countermark. If the position is offset, adjust it to
achieve proper alignment.
y The ball-screw side should be at a position where the rod projects 2 mm from the mechanical
end.
After the check, attach a new belt while holding the pulleys on both sides in position.
Cause the rod to project 2 mm from the mechanical end.
Apply countermarks once the rod has
projected 2 mm from the mechanical end.
Initial countermark position
Corresponding to a position where
the rod projects 2 mm from the
mechanical end
Motor side Ball-screw side