Vacuum Robot Manual
4000-0315 Rev 1
8
3. With the switch interrupted, the robot axis 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. 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 for theta and Z axes.
6. The Home offset for the R axis 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. This is the distance in encoder
counts between the R index and the arm when the arm links are
positioned center over center.
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 0,0,0, but you can re-define it.
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