6 Robot Settings
6.6 Robot Configuration Positions
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HW1485509
HW1485509
6.6.1 Robot Position Types
Common Robot position types available to the user are described below.
Axis position values will vary depending on manipulator model.
– Work Home Position (user editable)
• A manipulator posture often used as the “start” position in the
default job to ensure the manipulator will not crash into its
surroundings.
• By default, this position is connected to Zone 64 (type = cubic)
for ROBOT1. Point “P” in the figure below represents the TCP of
the manipulator at the work home position. The size of the cube
(“a”) is initially configured to be 100mm.
– Robot Position Confirm (user editable)
• Used to verify the current posture of the Robot in the event of an
alarm (e.g. 4107) when the YRC Controller is powered ON.
• These alarms may occur if there is an error in encoder
communication or the manipulator was moved after the power
supply was turned off.
• The initial value of Robot position confirm is also the
manipulator's home position (all axes at pulse 0).
– Temporary Position (user editable)
• Used to move the manipulator to a user-editable posture by
specifying the target axis values.
There are additional positions for certain manipulator models.
– HC10 Torque Calibration Positions (cannot edit)
• A set of factory defined postures used to calibrate torque sensors
on the human collaborative. For more information on this
position, refer to “Calibrating Torque Sensor Offset Data”.
If an installed tool/workpiece prevents the manipulator from
reaching its default confirmation position, the user can edit
this to a posture more accommodating of the tool's
geometry.
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