YASKAWA motoman NX100 - Page 231

9.8 Work Home Position
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9.8 Work Home Position
9.8.1 What is the Work Home Position?
The Work Home Position is a reference point for manipulator operations. It prevents interfer-
ence with peripheral device by ensuring that the manipulator is always within a set range as a
precondition for operations such as starting the line. The manipulator can be moved to the set
work home position by operation from the programming pendant, or by signal input from an
external device. When the manipulator is in the vicinity of the work home position, the work
home position signal turns ON.
9.8.2 Setting Work Home Position
 Work Home Position Window
 Registering/Changing the Work Home Position
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {WORK HOME POSI-
TION}.
The WORK HOME POSITION window is shown.
3
Press the page key .
When two or more manipulators exist in the system, the control
group is changed using the page key
Operation Explanation
1 Press the axis keys in the work
home position display.
Move the manipulator to the new work home position.
2 Press [MODIFY] and
[ENTER].
New work home position is set.
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
R1:S
L
U
WORK HOME POSITION
INTERFERENCE SIG: HOME POS CUR POS
R
B
T
0
0
0
0
0
0
0
0
0
0
0
0
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