Integrator has setup UOP 7 signal to PERCH OR HOME position , now I want to change the home position , want to change joint position of home, and still want UOP 7 to turn ON with new position, how do I setup that ?
Setup UOP 7 Signal
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sanjay bisht -
March 20, 2024 at 11:53 AM -
Thread is Unresolved
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MENU->SETUP->REF.Position
Check which one is used as "home position" (usually the first one) and edit that one or record current position.
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Change your home position and after that, select MENU > SETUP > Ref Position. Select reference position 1 and enter the joint values of your home position. Set Enable/Disable to ENABLE and Is a valid HOME to TRUE.
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My Ref Home position is showing DI[0] not UOP[7], when I try to update that position , UOP 7 goes OFF, I can fill any DI number and make that output ON but not UOP 7 through it
DI[0], or DO[0]? It doesn't really matter, but I think you got that one backwards. Don't worry about setting the signal definition there, just make sure it is set as a valid HOME; doing so will automatically link it to UO[7]. If you need an additional signal other than UO[7], you would define it there.
Don't forget to open up the tolerances on the reference position. By default, they are all +/- 0.000°, the robot will never be able to maintain that position exactly to turn on the output. I would open up the tolerances to at least +/- 0.500°.
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