Homes all robots to establish the reference positions for each of their axes.
Robot.HomeAll
Prerequisites
Parameters
None
Remarks
This method allows all robots to be homed via a program statement. This homing process reestablishes the reference (e.g. zero) position for each axis of each robot. This enables the robots to reliably move to the same positions after each time that the controller is restarted even when the robots are equipped with incremental, not absolute encoders.
The axes homing sequence must be executed once for each axis of each robot after the system is restarted and prior to executing a robot in position controlled mode. 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 HomeAll method simply executes the pre-configured method for all robots.
Examples
Robot.HomeAll() ' Execute home sequence for all robots
See Also