Homing the robot

amayes

What path is the robot supposed to take from within the molding machine at the part pick target when "HOME RUN" is selected.

I have a path tought which has the main point target outside the press and the subpath going into the press to the target for part pick.

If the machine or robot faults inside the press and "home run" is selected in auto or manual

the robot does not follow the taught path out of the press.

Is this because the main path target is not inside the press?

Any help would be appreciated

Adam

Neil Zhu

It depends on the status of the tool.

If the tool is closed, when HOMERUN is selected, the robot will backward In path of the Sub path, backward In path of the Main path, go to Scrap station and drop the part, go to Home station.

If the tool is Open, when HOMERUN is selected, the robot will backward In path of the Sub path, backward In path of the Main path, go to Home station.

BR/Neil

amayes

Thanks for your reply.

When our robot homes, is doesn't go backwards on the sub path and then main path.

It seems to go directly from the pick position (subpath target) to some random point that is not on the sub path or main path. I am not sure why.

 

Adam

Neil Zhu

If you can send the backup to neil-yifan.zhu@cn.abb.com, I can take a look.

 

BR/Neil