Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
31
You can home the robot axis with a standard homing macro (HOM) or
with the HOME command. During the robot homing sequence:
1. The robot axis moves towards the home switch at the Home speed
defined in your robot parameter file (*.par file).
2. When the robot axis reaches the home switch, the home flag interrupts
the limit switch.
3. With the switch interrupted, the robot axisF moves away from the
home switch until the controller senses the first index pulse from the
encoder.
4.
The encoder outputs one index pulse for each revolution. The motion
control board uses the encoder signals to generate a quadrate signal for
the CPU. This first index pulse provides a zero reference point that is
more repeatable than the home switch used to home the robot when the
system is initialized.
5.
The motion control board zeroes the position counter, which is then
used as the zero or home position.
6. The Home offset is read from the Robot Parameter File and written to
the motion control board register. The Home offset is stored in
encoder or quadrate counts.
7. The robot axis then moves to the Customized home position, which is
also defined in the Robot Parameter File. The default for the
customized home position is 0, but you can re-define it.
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