Hello
I am having some challenges with programing the $IN_HOME signal. $H_POS variable stores the axis specific angles for the robot (A1-A6) as well as the 5 external axes (E1-E5). I am aware about the $H_POS_TOL variable for tolerance in detecting if the robot is at Home. The challenge I face is that the controller does not compare the external axes moving asynchronously to the determine if its at home. Following are the program specifics
E6AXIS $H_POS={A1 0.0833542198,A2 -136.662125,A3 104.644592,A4 -0.0308768731,A5 87.5192490,A6 0.0677916929,E1 0.0,E2 0.0,E3 -29.2200,E4 0.0,E5 30.0000,E6 0.0}
My current position is the Following as seeing from the SMARTPAD. As seen E1 is clearly away from its Home positon.
{A1 0.08,A2 -136.66 ,A3 104.64,A4 -0.03,A5 87.52,A6 0.07,E1 180.0,E2 0.0,E3 -29.2200,E4 0.0,E5 30.0000,E6 0.0}
Following is my Toleranace values for each axes for Home detection
$H_POS_TOL={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 0.00900000,E2 0.00900000,E3 0.00900000,E4 0.00900000,E5 0.00900000,E6 0.00900000}
When I run a Small program with basically just one line of command to make my external axes asynchronous
$ASYNC_AXIS = ‘B11111’. The controller turns the $IN_HOME signal true when its clearly seen that axis E1 is not at position defined in variable $H_POS.
From my understanding, the controller tends not to compare the axis which are asynchronous for home detection