Home position and its signal setting

Have a look at WZHomeJointDef (World Zone Home Joint Definition) in the Rapid Instructions, Functions and Data types manual.

Click on the "?" under the close button in RobotStudio there you will find the manual indicated. I haven't got a copy of the manual.

First. If you have not yet attended a course for ABB Robot Programming, I strongly suggest to consider it. It will help a lot.

Second. Get Robotstudio if possible. It is lot easier and faster than on FlexPendant.

Third. Can you supply more details regarding the system you are using. S4C/IRC5?

I am using RS and is quite easier for me than on the FlexPendant. I am trying to put something together for you on how to do this on FlexPendant

Hope this helps.

Since you are new to ABB, You could just make a home position and a DO named home. Then in your program:

MoveJ Home

Set DO_Rob_Home

This would work while you’re figuring out world zones.

Quote from JMF

Hope this helps.

I know this is a necro, but I also want to thank you for the file. Never set worldzones in ABB myself but I want to have this function in my current robot. You saved me a long time of reading the manual.