Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
75
time and thus creates two different home positions, where the second
home is too far.
This test determines the distance to index, evaluates it, and assists in
making the correction. To verify which axis is incorrect, press the Home
all button. All home distances are displayed without activating the
correction software.
R-Home Test and Set
The R-Home Test and Set determines and sets the physical Home position
of the Radial axis. Physical position is the position in the robot polar
coordinate system.
Three operations are available. Use the Adjust R at home and Adjust R
at index
operations only if you need to adjust the physical position at
which the Home switch and Index are activated. For example, to have the
R-axis home flag activate at 5.0 in (127 mm) from its Center Overlapping
Position (5.0 in or 127 mm center-to-center), press the
Adjust R at home
button. Center Overlapping Position (COP) is the position where the
upper arm link is overlapping exactly in the middle of the lower link.
The
Set home offset operation verifies that the Home offset is correct or
assists in recalculating it.
For more details, refer to the description of STEP #9 (R-HOME TEST &
SET) description.
To Next Page
Loading...
