can anybody help me out that i am not getting home position signal when robot in home position
yaskawa work home position signal
- Somu mech
- Thread is Unresolved
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Lemster68
Moved the thread from forum General Discussion of Industrial Robots Only to forum Yaskawa Motoman Robot Forum. -
I just helped you by putting this in the correct forum.
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What signal address are you looking at? The actual home position of your robot model (encoders at 0 pulse) or what you are calling home (some arbitrary position based on the work cell)?
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Check the following menut; Robot > Work Home Position
Compare that position information to where you want it to be home. Modify & Enter if you need to update it.
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Be careful with Motoman's default "Work Home Position".
When this position is touched up, the monitoring method defaults to Cartesian monitoring.
Robot can reach the "same looking" home position in Cartesian but with J4,5,6 in different knuckle configurations.(360 degree on J6, 180 on J4 and 6 but mirrored J5 - Knuckle Flip, etc)
The Interference Area you need to look at will be the last one (64th, Cube-64) and SOUT#120 - if I remember correctly.
I recommend configuring a separate home position monitored by pulse count range using a different Interference Area.
If your robot has SOUT#120 at HIGH but the machine is complaining robot not at home, the machine may be expecting a different/additional home signal
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