IAI America RCA2-SA6R - Manual (Page 85)

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13. Maintenance Inspection
[9] Install the pulley cover.
[10] Connect a PC or teaching pendant to the controller and perform a home return.
Check for displacement with the original home position and if there is a displacement, make
correction using the following parameter:
ACON Parameter No. 22: Home return offset distance
ASEL Parameter No. 12: Home preset value
If your actuator is of the absolute encoder specification, perform a home return after the parameter
has been changed, and then execute an absolute reset.
Mounting screws
(2 pcs for the SA3R, 3 pcs for other models)