Homes the Attached robot to establish the reference positions for each axes.
Robot.Home
Prerequisites
Parameters
None
Remarks
This method allows a robot to be homed via a program statement. The homing process reestablishes the reference (e.g. zero) position for each axis of the robot. This enables the robot to reliably move to the same positions after each time that the controller is restarted even when the robot is equipped with incremental, not absolute encoders.
The axes homing sequence must be executed once for each axis after the system is restarted and prior to executing any position controlled motions. Often, the homing process is manually initiated via the operator control panel.
There are many different methods that can be employed to home an axis, e.g. home to hard stop, home to limit switch, home to home switch, etc. The specific method for each axis and the parameters for each method are pre-configured by the robot manufacturer. The Home method simply executes the pre-configured method for the robot Attached to the thread.
Examples
Robot.Attached = 1 ' Attach a robot to the thread
Robot.Home() ' Home the Attached robot
See Also