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Assignment
1. Power up the robot in a safe fashion. Always be sure to review that the robot is in
T1 mode, STEP mode and you are using a safe speed.
3. Comments
Press “DATA”
Press F1 (TYPE)
Choose Position Register
Scroll to PR[1]
Press “ENTER”
Label it as “Home Position”
Press “EDIT”
Verify if your first position is labeled as “home position”
Press “MENUS”
Select “SETUP”
Select “Ref Position”
You can setup three reference position’s use the first one for home position
Press F3 (DETAIL)
Label it as HOME POSITION
Enable this option
*******VERIFY THIS IS YOUR HOME POSTION*******
Press F5 (RECORD)
You will now see the values change from 0.000 to your defined home position
You now need to open the tolerance window for this position if you leave it
the way it is; it will probably never become true.
Scroll over to the minus side of each axis and make it 0.5 deg
Set the DO to 25; this is the output we use in Modatek’s PLC mapping to
determine if the robot is at home or not