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ID : 2696

Origin Return Guidance Function Guide

This section describes the origin return guidance function.

This is an optional function. To use this, you need the license.

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

What is Origin Return Guidance Function?

The origin return guidance function is a function that returns the robot to the specified origin in the shortest 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 origin. Equipment operated from I/O is not the target of the origin return.
  • When you execute the origin return 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 origin return, 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 origin" are different, the robot may collide.
  • At the origin return, 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

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