Work Home Position
Setting the operational origin, or Work Home Position, for the robot primarily defines the starting point for its operations. This allows engineers to quickly reset the manipulator.
There is also a signal output [30022]. This signal illuminates when the manipulator approaches the Home, providing great convenience when teaching.
Work Home Setting Steps
Step 1
Click the Robot and select the WorkHomePosition.
Step 2
Make sure the safety of the surrounding environment.
Turn the robot, move the manipulator to the new position, press [MODIFY] , and [ENTER]. The new position will be stored.
Return Request
Back to Work Home
The Return Request for robot to return to the home position can be initiated through Specific Input [40170] (R1).
After the controller receives the rising edge signal, the robot will move towards the position in Joint mode.
During the operation, the “START” lamp is lit, and the message “Operation Origin Returning” is displayed on pendant.
The speed in teaching mode is set by the teach pendant, while in operation mode, it is determined by the setting in S1CxG056.
Note: S1CxG056 parameter unit: Joint speed 0.01%.
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