I have a question. For example, Robot Axis 6 is rotate from Home position 0 deg to 270 deg clockwise, and now if i already have a command to rotate it back home position.
Will axis 6 rotate counter clockwise (-270 deg) back to home? or the servo itself will find the fastest route to turn to robtarget. Anybody know do we have this setting?
I used to play stepper before. Normally there is a setting to do return origin position. 1. through fastest route. 2. always rotate counter-clockwise or always clockwise to search home pos. 3. Return home along original path.
I dosen’t matter if you have the home position as a Robtarget or as a jointtarget, the robot goes to the correct position. Normally on an ABB robot, axis 6 can go to + and - 400 degrees, but, even tho it looks the same, 0 and 360 degrees isn’t considered to be the same position in a robtarget due to the axis configuration of the target. If the axisconfig is correct then you can use a robtarget and MoveJ to move home, just be sure it dosen’t collide with itself.