Dear Friends,
Please let me know how do we create home position in ABB Robots.
I mean the standard method.
Thanks in advance
Dear Friends,
Please let me know how do we create home position in ABB Robots.
I mean the standard method.
Thanks in advance
There is no standard home position in ABB as in Fanuc. Normaly i make a home rutine to be run after start main and before looping after job number from plc if the robot is controlled from plc
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what does home routine consist of??
Which options does your robot has? If you have word zone options, there is a easy method. If you doesn't have the options there is a different way to do that
what does home routine consist of??
Depends what you want from a home routine. It can be as simple as a MOVEJ (or MoveAbsJ) or it can set/reset I/O - including a Home signal (which you'd have to create). Do you just want the robot to move home, or turn on a signal when it gets there? I'm fond of the aforementioned World Zone option.
Sir! In our IRB6640 robot.. we had home routine. But please tell me how to turn on the home signal for particular home position.
For this example, there are two zones defined:
MODULE SAMPLE
PERS wzstationary home_world_zone:=[1];
PERS wzstationary Serv_world_zone:=[2];
PROC World_Zone_Home()
VAR shapedata volume;
VAR shapedata volume2;
WZSphDef\Inside,volume,pHOME.trans,50;
WZDOSet\Stat,home_world_zone\Inside,volume,AtHome,1;
!
WZSphDef\Inside,volume2,pSERVICE.trans,50;
WZDOSet\Stat,Serv_world_zone\Inside,volume2,AtServicePos,1;
!
!
ENDPROC
ENDMODULE
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AtHome turns on when TCP is inside the sphere.
World_Zone_Home() is called as a POWER_ON routine inside sys.cfg: