Home

Description

The Home node uses joint angles to move the robot to a predefined Home position. If defined as a Safe Home position,the Home node displays as Home(Safety) in the Program Tree. If the Home position is out of sync with Safety, the node is undefined.

 

 
Defining Home

Home is a user-defined return position for the Robot Arm. Once defined, the Home Position is available when creating a robot program. You can use the Home Position to define a Safe Home Position. (See Safe Home Position) Use the Home screen buttons for the following:
 

  • Edit Position modifies a Home Position.

  • Move here moves the Robot Arm to the defined Home Position.

  • Zero Position returns the Robot Arm to an upright position.

  1. In the Header, tap Installation.

  2. Under General, select Home.

  3. Tap Set Position.

  4. Teach robot using either Freedrive or Transition buttons.