Origin Return Guidance Function

This section describes the origin return guidance function.

What is Origin Return Guidance Function?

When a robot stops for some reason during automatic operation, the origin return guidance function is a function that returns the robot to the specified origin in the way based on the robot motion log obtained during automatic operation. At that time, this function automatically calculates a trajectory so that the robot does not interfere with peripheral devices.

How to Use the Function

The following describes the overview of how to use the function. For details, refer to the following links.

1. Record the Motion Log

To generate a trajectory of the origin return, record the motion log.

2. Specify the Origin for the Return

Specify the origin to return. It is also possible to specify multiple origins.

3. Start the Origin Return

Calculate a trajectory and execute the origin return command.

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