46 A255 Robot Arm User Guide
99-04-23
Homing the Arm
The A255 robot arm must be homed before you can teach locations or run any
robot application.
Why Home the Arm
When power to the controller is off, the arm position data in the controller’s
memory is lost. As a result, whenever the controller is powered on, the controller
does not know the position of the arm.
The “homing” procedure moves the arm to a mechanically determined position
which is then retained in the controller memory. From the homing starting
position, the homing procedure slowly moves each axis in sequence until the next
zero pulse of its encoder is found. Afterward, during any motion, the encoders
continually send position counts to the controller. Using these counts, the
controller knows any position of the arm relative to the home position.
Homing Procedure
This manual describes homing the arm from the teach pendant and from the
terminal. It does not describe homing the arm from a program or from the front
panel’s Home switch (which is disabled when shipped from the factory).
To home the arm, you must:
1) Move to the homing starting position.
2) Issue the home command.
Note: If you ordered a homing bracket and are using it to home the arm, follow
the procedure in the Homing Bracket User Guide.
1) Move to the Homing Starting Position
Before you begin:
• Ensure that the arm’s workcell is free of obstruction.
You can move to the homing starting position by using the teach pendant or the
terminal. It is safer to use the teach pendant.
Using the Teach Pendant
To use the teach pendant, follow these steps.
Before you begin, ensure that you:
• Have connected the teach pendant.
• Have the teach pendant (stpv3) process running and have control at the teach
pendant. If not, at the terminal, type pendant.
To move to the homing starting position:
1. The teach pendant displays the Application screen with the application’s name
(test). Turn on arm power.
Application
test
1edit 2run
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