IAI America RCAW - Manual (Page 86)

4. Maintenance
80
8) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3
mm across flats.
9) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute
encoder specification, an absolute reset must be performed.) Check for deviation from the initial
home position.
If there is a deviation, adjust parameter No. 22, “Home offset” if you are using an ACON controller. If
you are using an ASEL controller, adjust axis-specific parameter No. 12, “Home preset.” If your
controller is of absolute encoder specification, perform homing after changing the parameter, and
then perform an absolute reset.
M3 hexagon socket
head screws
M4 hexagon socket
head screws