Safe Home Position

Description

Safe Home is a return position defined by using the user-defined Home Position.

Safe Home I/Os are active when the Robot Arm is in the Safe Home Position and a Safe Home I/O is defined.

The Robot Arm is in the Safe Home Position if the joint positions are at the specified joint angles or a multiple of 360 degrees thereof.

The Safe Home Safety Output is active when the robot is standing still at the Safe Home Position.

 
Syncing from Home

To sync from Home

  1. In the Header, tap Installation.

  2. In the Side Menu on the left of the screen, tap Safety and select Safe Home.

  3. Under Safe Home, tap Sync from Home.

  4. Tap Apply and in the dialog box that appears, select Apply and restart.
Safe Home Output

The Safe Home Position must be defined before the Safe Home Output (see Safety I/O).
Defining Safe Home Output

To define Safe Home Output

  1. In the Header, tap Installation.

  2. In the Side Menu on the left of the screen, under Safety, select I/O.

  3. On the I/O screen in the Output Signal, under Function Assignment, in drop-down menu, select Safe Home.

  4. Tap Apply and in the dialog box that appears, select Apply and restart.
Editing Safe Home

To edit Safe Home

Editing Home does not automatically modify a previously defined Safe Home position. While these values are out of sync, Home program node is undefined.

  1. In the Header, tap Installation.

  2. In the Side Menu on the left of the screen, under General, select Home.

  3. Tap Edit Position and set the new robot arm position and tap OK.

  4. In the Side Menu, under Safety, select Safe Home. You need a Safety password to Unlock the Safety Settings (See Setting a Software Safety Password).

  5. Under Safe Home, tap Sync from Home