Chapter 6: Basic Operation 49
99-04-23
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 home the arm:
1. From the Main Menu, press F2 for motion.
2. From the Homing Menu screen, press F1 or the HOME key on the teach
pendant’s keypad. A confirmation screen displays.
3. Press the live-man switch to enable arm motion.
4. Press F1 (yes) to confirm and start the homing sequence. Maintain light
pressure on the live-man switch for the duration of the homing sequence. Each
joint rotates individually in sequence from joint 1 to joint 5. When arm motion
stops, the homing sequence is complete.
5. Release the live-man switch. Check that the teach pendant LCD displays the
message “Homed” and that the amber LED of the Home switch on the front
panel of the controller is on.
6. Press the READY key on the keypad. Maintain light pressure on the live-man
switch for the duration of the READY sequence. When the arm stops, it is in
the READY position.
7. Visually inspect each homing marker. The pointer should be toward the correct
end of the zone for that joint as shown in the previous drawing.
• If any pointer is outside the range of the homing mark, repeat the
procedure, making sure that the pointer starts within the starting zone, but
away from the end where the pointer finishes.
• If the arm did not home correctly, repeat the procedure.
• If the arm refuses to correctly home for three consecutive attempts, contact
you distributor or CRS Robotics.
Using the Terminal
To use the terminal, follow these steps.
Before you begin, ensure that you:
• Have a terminal running by having either:
—A terminal emulator or the terminal window of Robcomm3 communicating
through the front panel console port and having control of the robot at the
Confirm
start robot homing
procedure?
1yes 2no
Manual Homed ON
1motn 2mode 3loc 4here
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