Using registers to backtrack is one of the safer and more flexible ways of creating homing routines, but it requires all of your regular programs to be built around working with this. That is not always an issue, but if you have too many hands in the kitchen, it can cause problems.
Using zone and offset based homing is a little bit less reliable in general, but does not rely on any particular program being correct besides the homing program itself, and is a little easier to set up. In this method, you define regions wherein you have a specific retreat strategy, then evaluate where you are before you choose how to go home.
To piggy back off of Robo_Eng_13. The functions JPOS and LPOS are useful when writing the homing routine.
To piggy back off of Robo_Eng_13. The functions JPOS and LPOS are useful when writing the homing routine.
Ive done this is some very basic PnP application. Z offset 250mm to back away from anything then straight home. I would often include a (work zone envelope) in this as well. Just make sure that this will always work!
Ive done this is some very basic PnP application. Z offset 250mm to back away from anything then straight home. I would often include a (work zone envelope) in this as well. Just make sure that this will always work!
Sometimes going a fixed amount like 250mm or whatever amount can put you in a joint out of range error. To avoid this situation figure what is your max "z" height is, then move up max "z" minus current "z" and you will always got to that same max height.
Sometimes going a fixed amount like 250mm or whatever amount can put you in a joint out of range error. To avoid this situation figure what is your max "z" height is, then move up max "z" minus current "z" and you will always got to that same max height.
Yes you are correct. I do remember this happening before. Instead I just used a LPOS then moved to a known Z position that I knew I was clear
My normal method is to use zones to determine what area the robot TCP is in and have custom recovery moves for each zone.
To check the zones, I save 2 PRs to represent the diagonal corners of a box and check if the LPOS is inside of the zone using > & < comparisons.
The recovery moves are normally pretty generic, check z position and move up if needed, check x and move back if needed, etc.
