IAI SEL User Manual

16. Controller
255
16.13.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type)
Normally, adjustment of the ball screw spline shaft adjusting is not required.
Perform it only when the combination of the main unit and the controller is changed because the
ZR unit or controller is changed.
.
[1] Ball Screw Spline Shaft Adjusting Preparation
The absolute rest jig is required for the adjustment of the ball screw spline shaft adjusting for the ZR unit.
• 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 ball screw spline shaft adjusting.
Plate
Pin
Warning
16.13.5. Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental 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)