Epson RC170 Guia do Utilizador descarregar pdf (Página 122)

5. The EPSON RC+ 5.0 GUI

104 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

Tools: Robot Manager: Home Config Page

Home Config allows you to configure the optional user home position and home order

used by the Home command.

Changing home position

When you select the Home Config tab, the current home position is read from the robot

controller and displayed in the text boxes. If the home position has never been defined,

then the text boxes will be blank.

To define the home position, you can enter an encoder position value for each of the four

robot joints in the text boxes, or you can select the Jog & Teach page to jog the robot to the

desired home position, then select the Home Config page and click the

Read Current

Position

button to read the current encoder position values.

Changing home order

The home command executes in steps. The number of steps equals the number of joints on

the robot. Select the home step number for each joint using the dropdown list for each

joint. More than one joint can be homed in the same step.

Testing home

After making changes to the home position and home order, you can click the Robot

Manager

Control Panel tab and click the Home button.

Item Description

Read Current

Click this button to read the current position encoder pulse value into the

currently selected text field. The button text will change according which

text field is selected.

Defaults

Set the value of the [Home order] group box to the default value.

Apply

Save the current changes.

Restore

Revert back to the previous values.

1 2 ... 117 118 119 120 121 122 123 124 125 126 127 ... 311 312

Sem comentários

Epson RC170 Guia do Utilizador Página 122