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Lab Assignment 4a

Robot Level 1 Training (001) April 14, 2010

Name: ___________________________________ Employee No: _______________________

Area Leader: ______________________________ Department: ________________________

Assignment

In this lab, team members will learn how to:

 Create and define a position register


 Set up a reference position

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.

2. Setting a position register

 Open the program you created called “tryouts”


 You should have created a “home position” for your robot
 Move the cursor over the first point in your program.
 You will now see the word choice
 Press F4 (CHOICE)
 Select PR
 Enter number 1

3. Comments

 Press “DATA”
 Press F1 (TYPE)
 Choose Position Register
 Scroll to PR[1]
 Press “ENTER”
 Label it as “Home Position”

Dave Gill Page 1 8/21/2018


4. Verification

 Press “EDIT”
 Verify if your first position is labeled as “home position”

5. Using the Reference Position Utility

 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

Dave Gill Page 2 8/21/2018

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