Second home position

    I know that the second home position must be done after error 4107 and I know that this position can be set manually, i.e. modified. What is its purpose and benefit? we have to have a point in space or can it commute anywhere while checking?

    The second hone position is for check the robot home position. You don't need to modify it. If the robot lose home position, you can move robot in second home position by press FWD and confirm robot is at main home position. If you modify second home position, you couldn't check the main home position of robot.

    The purpose of the 2nd Home Position is to verify that the robot is ok. Alarm 4107 (Out of Range Abso Data) is caused by the robot being moved with power off.

    The controller knows what each encoder read when the power was turned off. When power was turned back on the encoders report where they are. If someone is not within a certain tolerance then Alarm 4107 is generated.

    The operator or someone is verifying that the robot is ok. That something isn't wrong when they confirm the position.

    Reasons this alarm can come up are:

    1) Someone manually moved an axis. Working on the tool and had to use a cheater bar on a bolt and slipped the brake.

    2) Robot loaded onto a truck and transported. The robot not secured enough and an axis bounced along the way.

    3) Someone loaded in a cmos.bin file and the robot wasn't at the same spot as when the cmos was saved.

    4) Maintenance was greasing the robot and forgot to take an outlet plug out. The grease went into the motor and onto the brake assembly. That brake can no longer the axis in place.

    5) Power outage. Robot minding its own business and the controller loses power. The robot doesn't stop on a dime and drifts until the brakes stop it.

    There are many other scenarios.

    There is a parameter for this where a person can either manually confirm the position or the controller can do it automatically.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Quote from Kate Harris

    I know that the second home position must be done after error 4107 and I know that this position can be set manually, i.e. modified. What is its purpose and benefit? we have to have a point in space or can it commute anywhere while checking?

    Second home is 0,0,0,0,0,0 position for the arm by default. it is the calibrated position at motoman when the servos were set up.

    Each axis has a small arrow & scale to align the joints. this is useful when replacing motors/ gearbox. And also to verify nothing broke during a 4107, I get this fault often when a power outage hits during robot motion.

    Most robots it's fine to just leave the 2nd home position, but a few of mine have EOAT that would collide at a OEM 2nd home, so i had to teach my wrist joint 90* from Zero.

    Hi, Could someone talk me through the procedure for check 2nd home position or point me to the correct manual. DX100 Mig Welding

    Our operator recently left us, unfortunately he was the only one that has used the robot for the last 5 or 6 years. Before he went he crashed the robot into a large clamp, that bent the torch neck. It was a sideways glance on the wrist T axis. We have now replaced the bent torch neck but on start up we get Alarm 4107, I think the T joint moved whilst power was of when replacing the neck also. How do I check/reset 2nd home position? We also have "Check position [R1] message at the bottom.

    Any help gratefully received, we will be getting someone new trained on the robot asap but for now I just want to confirm if any other damage was done to the robot when the collision happened.

    Regards

    Trevor

    1) Robot in the Main Menu.

    2) Second Home Pos in the sub-menu.

    3) Turn on servos in teach.

    4) Reset any alarms.

    5) Press and hold the FWD key.

    6) Verify alignment marks, of position is at factory position.

    7) Data in the Menu area.

    :smiling_face_with_sunglasses: Confirm Position.

    Message will change briefly to “Home Position Checked.”

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Hi me again, Sorry!!

    I was looking for a program to drive the robot to 2nd home position I have now realised there probably isn't one so I have driven the axis to their 0 positions. I cant see any marking on the T axis (wrist) apart from two small punch marks. These don't quite line up and even if they did the torch wouldn't be at the correct angle. Is there any other way of doing this with the markings to line it up? Could a belt or something slipped during the collision?

    Sorry I missed this before replying,,

    "Press and hold the forward key doesn't seem to work, I had to drive axis to 0 positions."

    Edit, helps if if you check movement speed before saying forward key doesn't work ^^^^^ :kissing_face:

    So I have the Robot in 2nd home position, all axis are at 0, and all markers as far as I can tell are all lined up, the wrist T axis doesn't have the same markers as the rest of the machine, the only thing I can see is two punch marks that do kind of line up. The torch is still twisted about 10 degrees out of square, could this be that something has twisted inside the torch mount? Is it also possible that something on the motor could have moved? I guess without being 100% sure that the 0 markings are correct there is no way telling.

    Edited once, last by T STUDS (February 7, 2024 at 2:12 PM).

    Quote from T STUDS

    Sorry I missed this before replying,,

    Press and hold the forward key doesn't seem to work, I had to drive axis to 0 positions.

    If you can’t FWD, you are not in the correct screen.

    Not knowing the model of robot, here is an example of the t-axis alignment marks.


    Something could have slipped, pulley loose, etc. If the marks in the picture aren’t what you are looking at then they are marks someone put on. They might not have put them on perfectly.

    If you Google Alarm 4107, there are plenty of video showing the recovery. Some mistakenly show the need to go into another security level. Any security level will work.

    Quote from 95devils

    If you can’t FWD, you are not in the correct screen.

    Not knowing the model of robot, here is an example of the t-axis alignment marks.


    Something could have slipped, pulley loose, etc. If the marks in the picture aren’t what you are looking at then they are marks someone put on. They might not have put them on perfectly.

    If you Google Alarm 4107, there are plenty of video showing the recovery. Some mistakenly show the need to go into another security level. Any security level will work.

    Thank you,

    Quote from T STUDS

    Sorry I missed this before replying,,

    "Press and hold the forward key doesn't seem to work, I had to drive axis to 0 positions."

    Edit, helps if if you check movement speed before saying forward key doesn't work ^^^^^ :kissing_face:

    So I have the Robot in 2nd home position, all axis are at 0, and all markers as far as I can tell are all lined up, the wrist T axis doesn't have the same markers as the rest of the machine, the only thing I can see is two punch marks that do kind of line up. The torch is still twisted about 10 degrees out of square, could this be that something has twisted inside the torch mount? Is it also possible that something on the motor could have moved? I guess without being 100% sure that the 0 markings are correct there is no way telling.

    T-Axis marks are probably covered by your EOAT mounting.

    Hello 95devils,

    I'm having a simuar issue.

    A collegue disconected the cables from the "turnover station" S1

    Afther a new start-up the robot asked to check home pos.

    I went to robot-second home pos.

    changed the page to S1 and put it in order.

    pressed data to confirm and it worked.

    Howerver, afther this the pendant gave the message to check home pos for R1 aswel.

    I went to robot-second home and put everything in order.

    When I now pres data there is nothing there so I can't confirm.

    Do you have a possible solution for this?

    Thank you in advance.

    This is what i do, that doesn't mean it's the right way to do it. :smiling_face:

    Quote from valkamar

    So a second home position is when all the axes in home positions and the factory marks match - is that how I understand it?

    If you didn't modify the second home position, yes.

    You can take FWD key and robot will go to zero position and all markers on all axis will match.

    Some times the robot is mounting on a position that if you move it to zero position, robot axis will crash with floor or anything. So you need to modify second home position when you give check position message on the pendant.

    On a welding robot if i notice all my welds are off location and the alignment marks don't line up at second home position on a joint, how would you go about adjusting that back so the welds are back where they are supposed to be with out having to re teach every point. Tweak the "Home position" data??

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