8 System Setup
8.5 Work Home Position
8-55
182582-1CD
182582-1CD
MH900, DX200 Controller
8.5.2.3 Returning to the Work Home Position
In the teach mode
1. Press [FWD] in the work home position display.
– The manipulator moves to the new work home position. The moving
speed is the selected manual speed.
In the play mode
When the work home position return signal is input (detected at leading
edge), the TCP of the manipulator is moved to the work home position.
When the manipulator moves, a message “Operation origin returning” is
displayed. In this case, the move interpolation is MOVJ, and the speed
applied is the one set in the parameters. (S1CxG56; units: 0.01 %.)
When the work home position is changed, the cubic
interference area is automatically set as cube 64 to 57 in
the base coordinate system.
• The cube 64 is for ROBOT1
• The cube 63 is for ROBOT2
• The cube 62 is for ROBOT3
• The cube 61 is for ROBOT4
• The cube 60 is for ROBOT5
• The cube 59 is for ROBOT6
• The cube 58 is for ROBOT7
• The cube 57 is for ROBOT8
The work home position cube is a cube like the one shown
in the figure below; the length of its sides is determined by a
parameter setting made by the user (units: μm).
By changing this parameter setting, the size of the cube
can be changed.
Fig. 8-2: S3C1097: The work home position cube length of
its sides (μm)
Specify whether “COMMAND POSITION” or “FEEDBACK
POSITION” is to be set to the work home position cube
signal’s CHECK MEASURE in the interference area
settings. “COMMAND POSITION” is the default setting.
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