IAI America RCA2-SA6R - Manual (Page 66)

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1. Notes on Operation
11.2 Adjusting the Home Position
The actuator home position can be adjusted by changing parameter *1 . In order to make adjustments,
please do the following.
[1] Verify the home position by performing a home return operation.
[2] Move the actuator to the desired position, verify the distance between the old and new positions, and
adjust the parameter accordingly. The parameter can be set to a positive value in the direction of
movement. (It cannot be set to a negative value.)
[3] Increasing the offset amount restricts the movement range by the amount of the increase. If you set an
offset greater than 1 mm, please reset the stroke soft limit.
*1 ACON controller: No. 22, home return offset distance
ASEL controller: Parameter No. 12 for each axis, home preset value
ASEP controller: No. 16, home return preset value
AMEC controller: No. 16, home return preset value
11.3 Changing the Home Position Direction
To change the home position direction after delivery, it is necessary to change the movement direction
parameter. Please contact with IAI if you need to do this.
Warning:
The encoder serves not only to detect the actuator’s position and the home position signal, it also plays a
crucial role in phase switching for the AC servo power line, and its phase is adjusted precisely. Never
touch the encoder in order to change the home position.