IAI SEL User Manual

16. Controller
248
16.13.3 Perform Absolute Reset on ZR Unit (Absolute Type)
Under certain conditions such as when the ZR unit is connected to the controller for the first
time, absolute encoder battery voltage is abnormal, or encoder cable has been
disconnected, an encoder battery error will generate and absolute reset will be required
.
[1] Preparing for Absolute Reset
You also need a special jig to perform an absolute reset.
• Absolute-reset adjustment jig Model number: JG-ZRS (for ZRS)
)MRZ rof( MRZ-GJ :
Connect the cables for the robot, controller and teaching pendant to enable operation from the
teaching pendant.
Before proceeding, be sure to confirm that the EMG switch operates properly.
Carrying out any inspection or maintenance work without fully understanding the work may
result in serious injury.
Put up a sign that says “Work in Progress” so as to prevent other operators from
accidentally operating the controller, operation panel, etc.
Back up the parameters before the absolute reset.
Plate
Pin
Warning
16.13.4. Perform Absolute Reset on ZR Unit (Absolute Type)

IAI SEL Specifications

General

Protection Class	IP20
Communication	RS-232C
Control Method	PTP
Number of Axes	Up to 4 axes
Vibration Resistance	4.9 m/s² (0.5 G)
Humidity	20 to 85% RH (non-condensing)