IAI America ACON-CG - Manual (Page 97)

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7. Operation <Practical Steps>
[10] Perform home return.
z Overview of operation on the teaching pendant
x In case of CON-T, press the “ADJ” key, enter 1 in “Adjustment No.” and press the return key.
x On the RCM-T, select the “Edit/Teach” screen, bring the cursor to “*Home” in the sub display area,
and then press the Return key.
x On the RCM-E, select the “Teach/Play” screen, scroll until “*Home Return” is displayed, and then
press the Return key.
[11] Set a target position in the “Position” field of the position table.
Set a target position in the “Position” field of each position table.
Determine a desired target position by fine-adjusting the load and hand via jogging or inching.
Also adjust the servo gain, if necessary.
* Once a target position has been set, other fields (speed, acceleration/deceleration, positioning band,
etc.) will be automatically populated by their default values. Set optimal values for the speed,
acceleration/deceleration, positioning band, etc.
* For safety reasons, it is recommended that the safety speed be enabled during the initial movement.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the MANU
operation mode to [Teaching mode: Disable safety speed].
Home return operation
Mechanical end
Power on p
o
sition
Emergency stop not actuated (motor drive power supplied) Safety circuit condition
Supply of 24-
VDC I/O power
Supply of 24-VDC
controller power
Servo ON
operation
Monitor LED
[SV/ALM]
Ready (SV)
An orange light
comes on initially
for 2 seconds and
then turns off.
Initial parameter
settings
1.6 sec or less
Green
Set a target position in the “Position” field
of the position table via PC or teaching
pendant operation
Also set optimal values for other items.
Home position