Next >>

ID : 2696

Home Position Guidance Function Guide

This section describes the Home Position Guidance function.

This function is available for the following robot types.

Type Robot series
6-axis robots VM, VS, VS-6556/6577, VP

This is an optional function. To use this, you need a license.
For how to enter a licence key, refer to “Registering License”.

This function is available in Ver.2.14.* or higher.

What is Home Position Guidance Function?

The Home Position Guidance function is a function that returns the robot to the specified home position in the way based on the preset control log when a robot stops for some reason during automatic operation. At that time, this function automatically calculates a trajectory so that the robot does not interfere with peripheral devices. This function can be used in Auto mode by commands and Manual mode by TP.

This function can be used only when the robot controller communicate with the IPC.

Precautions

  • This function is designated to return a robot to the home position. Equipment operated from I/O is not the target of the Home Position Guidance.
  • When you execute the Home Position Guidance in Auto mode, take sufficient safety measures.
  • Since this function returns a robot based on the log, if equipment is on the path of the robot Home Position Guidance, it may collide and be damaged.
  • If "the robot status and working space before the robot stops" and "the robot status and working space when the robot returns to the home position" are different, the robot may collide.
  • At the Home Position Guidance, the robot posture may be changed significantly.
  • When the robot status is changed like the following cases while the log is obtained, take special care to use.
    • When a robot has a workpiece
    • When a hand is changed
    • When a tool definition is switched

ID : 2696

        Next >>