Hi,
we have 6-axis robot Fanuc Arc Mate 100 iC. Is there any best possition for "parking" robot?
I think best possition for best breake life etc.
Best home possition for 6 axis robot
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Petan -
March 18, 2018 at 9:15 PM -
Thread is marked as Resolved.
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I would say it all depends on the application you have it in currently.
I typically just make my home position in a location that is clear of the other equipment and make the EOAT easily accessible to the operators so they do not need to manually move the robot to a new position to gain access to either the robot or any other part of the cell.I have never worried about "brake life" because of a home position.
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Teach a home position in a way that it is away from the machine you might be working with or from the work piece transfer area and I keep the orientation of the tool in such a way that you don't have to make alot of movements to reach to your desired working position. The reference position digital output signal is turned on when the robot is at this position. To setup a home position as a reference position-
Go to-
MENUS
SETUP
REF POS
Over here you can teach a home position and assign it to the digital output or position register that you can use in your programs. -
All else being equal (it seldom is), I like to keep the robot near Zero... or the arm parallel to the floor. Moving walls usually require the robot to be making a limit switch (or reference position). Motion economy would have the robot as near the job as possible, yet not "in the way".
As mentioned:
...it all depends on the application you have it in currently. -
Yes, robot is in the best possition for working, service etc. but...
see picture - J3 (brake, transmission) is loaded when robot is in this pissition. J2 is in better condition - almost no load.OK, now I'm not worried about the lifetime of the robot.
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Our safe home position is the robot standing straight up. It's out of the way of all machines, so anyone can go in a work on a machine. But definitely look at your cell and find the best position.