A robot was crashed and the toolhead was damaged. Some teaching had to be done on some programs because the toolhead was bent. When the toolhead was replaced, someone somehow retaught 2nd home with the t-axis being slightly off. After the toolhead was replaced, we assumed that our programs would be a little off due to the teaching we had done before with the bent toolhead. So, for the past week, we have re-taught every program. Today, we checked 2nd home position, and noticed that someone had retaught it. The teaching we've been doing for the past week was because our 2nd home position was changed, not because of the bent toolhead. Is there a way to get our 2nd home back to its correct position without affecting all of the other programs that we just retaught? None of us want to reteach every program again.
Need Help...2nd home position off
- maintman
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This 2nd home position is only a reference for the robot and reteaching it will NOT change your positions in the programs.
It sounds more like the T-Axis has slipped when the tool was crashed and needs recalibrating to the witness marks/sticker. That is Home Position, not 2nd home position. If you have already retaught all points with this axis off, and you set it correctly now, you will need to reteach again. In the future you should check the calibration marks and if required, adjust the home position to the correct place BEFORE reteaching anything.
You will probably find that your TCP is not accurate now, which can cause problems when orientating around your tool...
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