Home position

RobotStudio
1

Here is our user mode home position routine…

Before home position changed, do03_RobHome signal is well activated.
However, after change pHome by jogging, do03_RobHome signal is not set even though Rotot is at pHome position…
What is problem…? please help me..

MODULE user (SYSMODULE)

! Predefined user data
!*********************

! Declaration of numeric registers reg1…reg5
VAR num reg1 := 0;
VAR num reg2 := 0;
VAR num reg3 := 0;
VAR num reg4 := 0;
VAR num reg5 := 0;

! Declaration of stopwatch clock1
VAR clock clock1;
VAR pos pHomepos:=[0,0,0];
VAR shapedata HomeZoneShape;
VAR wzstationary HomeData;

PROC Zones()
!Robot Home zone Check:
pHomepos:=pHome.trans;
WZSphDefInside,HomeZoneShape,pHomepos,10;
WZDOSetStat, HomeDataInside, HomeZoneShape, do03_RobHome, 1;

ENDPROC

ENDMODULE

2

What do you mean by change home position? Did you created new home position or you just jogged robot out of the home position?

I dont understand the question clearly. And where did you call your procedure Zones() in the main program?

3

You have to warmstart the robot control once you change your home position, so your Zone() procedure will run. The zone procedure should be connected to the power-on event and can only be run once to set your world zones - warmstart teh controller or cycle power to it to establish the new home position.

4

Thank you…
It works…
I am a beginner. So it is very helpful of your reply.. thanks.