SETTING UP & CALLING AT PERCH POSITION (home position)

The Home position of DIY Robotics standard programming is set a Ref Position 1. It is called “At Perch”.

 

(You will find a downloadable  mceclip3.png PDF version at the end mceclip5.png of this page .)

 

 DURATION

+/- 15 minutes

  DANGER  

Robot will move directly at home so make sure that there is no collision while the task is performed.

 

VIDEO TUTORIAL

 

STEP BY STEP

      1. In T1 mode, move the robot to the desired “Home Position”.
      2. PRESS --> [ MENU ]
      3. SELECT --> [ 6 ] 6 SETUP
      4. SELECT --> [ 7 ] 7 Ref_Position (see screenshot mceclip1.png)
      5. Bring the cursor to “Enb/Dsbl" of # 1
      6. PRESS --> [ F3 ] [DETAIL]
      7. PRESS --> [ ENTER ]
      8. ENTER --> At Perch (see screenshot mceclip1.png)
      9. PRESS --> [ ENTER ]
      10. PRESS --> [ SHIFT + F5 ] SHIFT and RECORD
      11. Using ARROW --> Scroll down to the third line.
      12. PRESS --> [ F4 ] TRUE (see screenshot mceclip1.png)
      13. Using ARROW --> Scroll down to the fifth line.
      14. On the right column, ENTER --> 5
      15. PRESS --> [ ENTER ]
      16. Using ARROW --> Scroll down to the sixth line.
      17. On the right column, ENTER --> 5
      18. PRESS --> [ ENTER ]
      19. Using ARROW --> Scroll down to the seventh line.
      20. On the right column, ENTER --> 5
      21. PRESS --> [ ENTER ]
      22. Using ARROW --> Scroll down to the eight line.
      23. On the right column, ENTER --> 5
      24. PRESS --> [ ENTER ]
      25. Using ARROW --> Scroll down to the ninth line.
      26. On the right column, ENTER --> 5
      27. PRESS --> [ ENTER ]
      28. Using ARROW --> Scroll down to the tenth line.
      29. On the right column, ENTER --> (see screenshot mceclip1.png)
      30. PRESS --> [ ENTER ]
      31. PRESS --> [ PREV ]
      32. PRESS --> [ F4 ] ENABLE (see screenshot mceclip1.png)

 

CALLING HOME POSITION

In a program, you have to add this program part in order to copy Ref_Pos1 in PR[1]

      1. PRESS --> [ SELECT ]
      2. Choose the program you want to add the homing command
      3. Using ARROW --> Choose the program.
      4. PRESS --> [ ENTER ]
      5. Using Arrow, SELECT --> Where you want to add the command. (Must be before the point line telling the robot to go to PR[1:AtPerch])
      6. PRESS --> [ F1 ] [INST] (if not available, PRESS --> [ NEXT ] )
      7. SELECT --> [ 6 ] 6 CALL
      8. SELECT --> [ 1 ] 1 CALL PROGRAM
      9. PRESS --> [ F3 ] COLLECT
      10. SELECT --> Karel Logs
      11. PRESS --> [ ENTER ]
      12. Using Arrow, SELECT --> GET_HOME Program
      13. PRESS --> [ ENTER ]
      14. Set the point in JOINT Motion if not already programmed

 

mceclip0.png

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