4.5.3 Confirming Home Position
1) Make sure of the robot current position according to the POS data of the UTILITY
mode. Guide the robot to the approximate home position by manual operation
and confirm the position. Unless it could be located at the home point
match-mark, make sure that the approximate position is the reference position
marked in advance.
2) Execute the following program and make sure of the robot machine home
position. Unless the robot could be located at the home point match-mark, DO
NOT use the following program.
Create a program in which the robot moves to the position recorded beforehand,
referring to the following program. Then make sure that the robot moves to the
reference position mark according to the program thus created.
PROGRAM ZERO
SPEED=30
MOVEA 3,100
MOVEA 1,0
MOVEA 2,0
MOVEA 3,0
MOVEA 4,0
END
4.5.4 Saving Data
Save the system parameters in the system disk.
Connect the personal computer and controller using TSPC (option), then save the
“MACHINE.PAR” file from the robot controller to the hard disk, etc. of the personal
computer. Load the home position data to the system parameter file.
The home position data is the data characteristic of the robot, which differs with the
robot you use. This data is necessary when you effect a cold start and restore the
home position data again. Be sure to save the data.
Now, the operation completes.
STE 85306
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