How to call Home Position and Second Home Position in GP8 Yaskawa Robot?

    Good Day!

    I'm new here but I used to program Robot Arm of Yaskawa GP8 and GP12 with or without Force Sensor.
    I just want to ask if it is possible to call Home Position or Second Home Position inside the JOB, is this possible?

    Please teach me.

    Thank you in advance.

    Randz

    Reintz

    Thank you.
    I already did that instruction before but if there is such a function to call the Home Pos or Second Home Pos, that will be more convenient.
    For example, there is a specific I/O for Home Pos or Second Home Pos so when I'm going to run the program, it will first check if the Robot is in Home Pos or not.

    I think it will be safe if there is such a function to verify the Robot Current position if it is matched to the Home Pos or Second Home Pos for confirmation purposes during program run.
    I'm also searching for the manuals but I still can't find such function that will help me.

    I'm planning to make interlocks in PLC and YRC-1000 to prevent collision.

    Thank you

    There are no specific functions to have the robot go to the home position or second home. You would have to create them yourself, like Reintz said.

    The home position is always at one position. Where the alignment marks line up for each axis. The controller sees this as 0 pulse counts.

    The second home position is intended from the factory as a position for recovery of alarm 4107, an axis has been moved with power off. The factory puts this at the home position but can be changed.

    The majority of cells that I have done the robot can't get all the axes to the home position or the default second home position due to obstructions in the way.

    The factory doesn't want someone to use this function, if it was available, then crash their robots and call complaining about it. Warranty work would be huge.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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