IAI SEL User Manual

16. Controller
256
For ball screw spline shaft adjusting for the ZR unit, a series of operations of the vertical axis and
rotartion axis is performed. Because there is an item for operating the robot in the adjustment procedure,
perform the adjustment in the condition where the actuator is available by setting the appropriate
moving range of the actuator and arranging it so there are no obstacles etc. for the actuator.
Select the F1 (RAbs) key on the controller item screen.
Mode flow:
When performing an ball screw spline shaft adjusting,
press the F1 (Yes) key.
When not performing an ball screw spline shaft adjusting,
press the F2 (No) key. The display returns to the previous
screen.
Axis No. input
Input the vertical axis No. for the ZR unit using the
ten-key pad and press the return key.
When continuing an ball screw spline shaft adjusting,
press the F1 (OK) key.
When canceling an ball screw spline shaft adjusting,
press the F2 (Canc) key.
When canceling an ball screw spline shaft adjusting on
any screen of the following
F2 (Canc) key.
① through ⑨, press the
①
Controller Error Reset
Press the F1 (OK) key.
Servo ON
Press the F1 (OK) key.
[2] Ball Screw Spline Shaft Adjusting Procedure
Ctl RAbs-
1

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)