This flag is set TRUE when the associated robot has been successfully "homed". Homed means that an absolute zero position reference has been established for each of the motors. Normally, the robot is not permitted to execute any automatic, position controlled motions until the robot has been homed. For motors with incremental encoders, the zero position reference is normally established by moving each axis and detecting a combination of homing switch, limit stops or limit stop switches, and encoder zero index pulses. The exact algorithm for utilizing these various inputs is defined in by the "Homing method" (DataID 2803). For motors with absolute encoders, the zero position reference is known as soon as the system is powered up.

If configured, the value of the specified digital output signal indicates if the associated robot has been successfully homed. This DOUT tracks the value of the "Robot homed" (DataID 2800) flag.

This parameter specifies whether the robot's motors are to be homed simultaneously or serially, and if serially, how the order of motors is to be determined. This parameter is interpreted as follows:

   0: Home motors serially and in sequential order, e.g. motor 1 followed by motor 2, etc.
   1: Home all motors simultaneously.
   2: Home motors serially and in the order specified by the Homing Order array (DataID 2810)

For each motor, a specific homing method can be defined. Homing methods typically make use of a combination of signals from an optional homing switch, optional limit stop switches, hard limit stop detection, and encoder zero index pulse detection. The system supports all of the standard homing methods defined in the CANopen specification, CiA DSP 402 V 2.0, July 26, 2002 (methods 1-35). In addition, the system supports special methods for homing using hard stop detection and techniques for pseudo and full absolute encoders. Please see "Motor Homing Sequences" under "Selected Setup Details and Procedures" in the "Software Setup" section for a complete description of the supported homing methods.

During the homing operation, these are the maximum motor speeds that are used for all motions. A speed is specified for each motor and the speeds are in units of encoder counts/second.  For motors subject to split-axis control, this parameter also defines the speed used to align the split axes each time that motor power is enabled.

This is an optional speed that is provided for compatibility with CANopen. It was intended to be a slower speed for use in accurately detecting switch transitions. However, since such transitions are captured via hardware latches in our controller, this slower speed is not utilized.

When the robot is being homed, these parameters specify the maximum acceleration for each motor. The accelerations are in units of encoder counts/second^2.

This flag is set TRUE if each motor is to be commutated just before it is homed.  If this flag is set to FALSE, the motors are all commutated the first time that robot power is enabled after the controller has been restarted.

Since commutating motors can cause them to move a small distance, setting this flag TRUE ensures that the motions occur in the same sequence as the homing procedure.  For example, you can retract a Z-axis before moving in X or Y.  However, if this flag is set TRUE, jog control in Joint mode is not permitted until the robot is homed.

Please note that the Guidance controller turns all motor brakes off when the first motor is commutated. Therefore, this flag should only be set TRUE if all brakes can be released when the first axis is homed.

This flag is set FALSE by default.

During the homing operation, if a motor has a digital input signal specified in this parameter, the homing operation for the motor will be delayed until the specified signal is TRUE.  If the delay exceeds the timeout value specified by the "Timeout on home axis" (DataID 2813), the homing operation will be aborted.

If a digital input specified by the "Wait to home axis DIN" (DataID 2812) parameter is not TRUE within this allotted number of seconds, the homing operation is terminated and an error is generated.

If a value in this array is set to TRUE, the corresponding motor is moved to the specified "Homing safe position" (DataID 2815) as soon as the motor is homed and before the next motor in the homing sequence begins its homing operation.  This feature can be used to reposition axes during the homing sequence to avoid obstacles.

If a value in the "Move to home safe position" (DataID 2814) array is TRUE, the corresponding value in this array defines the motor position (in encoder counts) to which the motor is moved after it completes its homing operation and before the next motor in the homing sequence begins its homing operation.  The motor encoder values are absolute positions that are interpreted relative to the motor zero position established by the homing operation.

For jog (manual) joint control mode, this parameter defines the maximum speed that each axes can be moved as a percentage of the 100% joint speeds (DataID 2700).  For example, if this parameter is set to 25, the maximum joint jog speed is limited to the same speed achieved when the robot is moved by a joint interpolated program motion with a Profile speed of 25%.

For jog (manual) world and tool control modes, this parameter defines the maximum speed that each Cartesian degree-of-freedom can be moved as a percentage of the 100% Cartesian speeds (DataID 2701).  For example, if this parameter is set to 25, the maximum world X displacement jog speed is limited to the same speed achieved when the robot is moved in a straight line motion by a program with a Profile speed of 25%.

For all jogging modes, this parameter specifies how quickly the jog mode will accelerate to its maximum speed.  For example, if this parameter is set to 50, it will take 2 seconds before an axis can achieve it maximum speed during jog mode.

For the manual control (jog) mode, this is a mask of bits that indicate axes that are not permitted to be placed into "Free" mode. For some mechanisms, allowing some or any axes to be taken out of position control mode with the brakes released may potentially result in damage to the robot or a hazardous situation.  Turning on a bit in this mask will inhibit the corresponding axes from being placed into Free mode. The least significant bit in this mask corresponds to the first axis of the robot.

For the manual control (jog) mode, this is a mask of bits that indicate motors that are to be gravity compensated when the corresponding axes is placed into "Free" mode.  For motors that are subject to a large gravity force, if compensation is not applied, when an axis is "Free'd", it is possible that the axis may immediately collapse and damage the robot, other equipment or personnel. When a motor's bit is set in this mask word, the motor torque required to hold position when jog mode is entered is assumed to be the torque required to counter the gravity force.  The least significant bit in this mask corresponds to the first motor of the robot.

NOTE: This function computes the compensation value as a percentage of the "RMS rated motor current, A(rms)" DataID 10611.  Therefore, that parameter must be set to a reasonable value before enabling gravity compensation.

For jog (manual) joint control mode, this parameter defines the size of step that each axis will be move in tick mode.  Tick mode moves an axis a single step and then stops rather than moving the robot at a constant speed.  This mode is very convenient for fine positioning.  Tick mode is invoked whenever the jog speed is 5% or less.

This parameter defines the 1% tick step as a percentage of the distance that an axis would move if it traveled at a constant joint speed of 100% (DataID 2700) for one second.  For example, if the jog tick step parameter is set to 0.001% and the 100% joint speed of an axis is 3000mm/sec and the MCP does a 1% tick step, the axis would be moved 0.03mm (3000*0.00001).

For jog (manual) world and tool control modes, this parameter defines the size of step that the robot will be moved in a Cartesian coordinate in tick mode.  Tick mode moves the robot a single step and then stops rather than moving the robot at a constant speed.  This mode is very convenient for fine positioning.  Tick mode is invoked whenever the jog speed is 5% or less.

This parameter defines the 1% tick step as a percentage of the distance that the robot would move if it traveled at a constant Cartesian speed of 100% (DataID 2701) for one second.  For example, if the jog tick step parameter is set to 0.001% and the 100% translation Cartesian speed is 3000mm/sec and the MCP does a 1% tick step, the robot would be moved 0.03mm (3000*0.00001).

For axes that have noticeable static friction, these parameters can enable compensation for the friction during jog control Free mode.  When this feature is enabled and the operator presses on a Free'd axis and starts it moving, the system will generate a torque that assists in continuing to over-come the friction.  So, once a Free'd axis begins to move, it takes less force to have it continue to move in the same direction.

The "Free mode friction compensation" (DataID 2828) defines the compensation torque as a percentage of the "RMS rated motor current, A(rms)" (DataID 10611).  Typical values for this parameter are 5%-20%.  This value is defaulted to 0, which disables friction compensation.

To avoid having the compensation torque applied too abruptly, the "Free mode friction rate of change" (DataID 2830) defines how quickly the compensation is ramped up and down.  A typical value for this parameter is 300%/sec.

To avoid having the compensation torque oscillate an axis during Free mode, the "Free mode friction deadband" (DataID 2829) should be set to a minimum speed, below which the compensation is not applied.  For a linear axis, a value of 3-5mm/sec is common.