Home position

scbyun

Here is our user mode home position routine...

Before home position changed, 
do03_RobHome signal is well activated.

However, after change pHome by jogging, 
do03_RobHome signal is not set even though Rotot is at pHome position...

What is problem...? please help me..

MODULE user (SYSMODULE)

 ! Predefined user data

 !*********************

 ! Declaration of numeric registers reg1...reg5

 VAR num reg1 := 0;

 VAR num reg2 := 0;

 VAR num reg3 := 0;

 VAR num reg4 := 0;

 VAR num reg5 := 0;

 ! Declaration of stopwatch clock1

 VAR clock clock1;

 VAR pos pHomepos:=[0,0,0];

 VAR shapedata HomeZoneShape;

 VAR wzstationary HomeData;

 

 PROC Zones()

    !Robot Home zone Check:

    pHomepos:=pHome.trans;

    WZSphDefInside,HomeZoneShape,pHomepos,10;

    WZDOSetStat, HomeDataInside, HomeZoneShape, do03_RobHome, 1;

    

  ENDPROC

 

ENDMODULE

Nata_lia

What do you mean by change home position? Did you created new home position or you just jogged robot out of the home position?

I dont understand the question clearly. And where did you call your procedure Zones() in the main program?

Thomas J

You have to warmstart the robot control once you change your home position, so your Zone() procedure will run. The zone procedure should be connected to the power-on event and can only be run once to set your world zones - warmstart teh controller or cycle power to it to establish the new home position.

scbyun

Thank you....

It works...

I am a beginner. So it is very helpful of your reply.. thanks.