Home position

scbyun · September 2012

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 · September 2012

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 · September 2012

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 · September 2012

Thank you....

It works...

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

Home position

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