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  PDF version at the end  of this page .)

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 )
5. Bring the cursor to “Enb/Dsbl" of # 1
6. PRESS --> [ F3 ] [DETAIL]
7. PRESS --> [ ENTER ]
8. ENTER --> At Perch (see screenshot )
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 )
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 --> 5 (see screenshot )
30. PRESS --> [ ENTER ]
31. PRESS --> [ PREV ]
32. PRESS --> [ F4 ] ENABLE (see screenshot )

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