ID : 3370

SetHoming

Function

To perform the return to origin motion of the selective extended joint.

This command is available in Ver.2.7.* or higher.

Syntax

[Robot*.]SetHoming Joint number, Timeout period

Guaranteed entry

Joint number: Designate a joint number by Integer Type data. One or several joints can be specified for the return to origin motion. If you specify two or more joints, use a comma (,) as a delimiter of each joint number.
Timeout period: Specify a timeout period by integer type data. Unit is [ms]. If the specified timeout period elapses, a level 3 error occurs and the return to origin motion will stop.

Description

To perform the return to origin motion of the selective extended joint.

Executing the SetHoming command will turn the motor on and start the return to origin motion. Once the motion has been completed, the motor will turn off.

If the encoder of the selective joint is incremental type, the absolute position information will be lost by the power off. Therefore, before starting any selective extend joint motion, you need to perform the return to origin with this command to initialize the position information.

The return to origin motion is available under the Auto mode or the Teach check mode.

Robot number is omittable. This should be "0" (Robot0) if it is omitted.

Before executing this command, turn the motor off. If the motor is on at this command execution, an error will occur.

Before executing this command, execute TakeArm to take control.

If you execute this command under the Teach check mode, you need to turn off the "Motor power ON" option of the deadman switch linkage function. For about the setting procedure, refer to "The Setting of the Deadman Switch Linkage Function".

Related Terms

Attention

This command is not available to perform the return to origin motion of robot joints or the internal extended joints.
This command is not available under the machine locked state.
During the execution of this command, you cannot move any robot joints.
The return to origin motion will stop in any of the following cases.
- Timeout period has been elapsed.
- An error occurs in the servo amplifier.
- An error occurs in the robot controller.

Example

'!TITLE "Perform the return to origin of the 7th-joint of Robot0"

Sub main  
  Takearm Keep = 0
  ' Perform the return to origin of the 7th-joint of Robot0.
  ' An error occurs unless the return to origin completes within 10 seconds.
  Robot0.SetHoming 7, 10000
  Givearm		
End Sub

'!TITLE "Perform the return to origin of the 7th- and 8th-joints of Robot0"

Sub main  
  Takearm Keep = 0
  ' Perform the return to origin of the 7th- and 8th-joints of Robot0 simultaneously.
  ' An error occurs unless the return to origin completes within 5 seconds.
  Robot0.SetHoming (7, 8), 5000
  Givearm
End Sub

ID : 3370

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