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 .)
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
- In T1 mode, move the robot to the desired “Home Position”.
- PRESS --> [ MENU ]
- SELECT --> [ 6 ] 6 SETUP
- SELECT --> [ 7 ] 7 Ref_Position (see screenshot
)
- Bring the cursor to “Enb/Dsbl" of # 1
- PRESS --> [ F3 ] [DETAIL]
- PRESS --> [ ENTER ]
- ENTER --> At Perch (see screenshot
)
- PRESS --> [ ENTER ]
- PRESS --> [ SHIFT + F5 ] SHIFT and RECORD
- Using ARROW --> Scroll down to the third line.
- PRESS --> [ F4 ] TRUE (see screenshot
)
- Using ARROW --> Scroll down to the fifth line.
- On the right column, ENTER --> 5
- PRESS --> [ ENTER ]
- Using ARROW --> Scroll down to the sixth line.
- On the right column, ENTER --> 5
- PRESS --> [ ENTER ]
- Using ARROW --> Scroll down to the seventh line.
- On the right column, ENTER --> 5
- PRESS --> [ ENTER ]
- Using ARROW --> Scroll down to the eight line.
- On the right column, ENTER --> 5
- PRESS --> [ ENTER ]
- Using ARROW --> Scroll down to the ninth line.
- On the right column, ENTER --> 5
- PRESS --> [ ENTER ]
- Using ARROW --> Scroll down to the tenth line.
- On the right column, ENTER --> 5 (see screenshot
)
- PRESS --> [ ENTER ]
- PRESS --> [ PREV ]
- 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]
- PRESS --> [ SELECT ]
- Choose the program you want to add the homing command
- Using ARROW --> Choose the program.
- PRESS --> [ ENTER ]
- 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])
- PRESS --> [ F1 ] [INST] (if not available, PRESS --> [ NEXT ] )
- SELECT --> [ 6 ] 6 CALL
- SELECT --> [ 1 ] 1 CALL PROGRAM
- PRESS --> [ F3 ] COLLECT
- SELECT --> Karel Logs
- PRESS --> [ ENTER ]
- Using Arrow, SELECT --> GET_HOME Program
- PRESS --> [ ENTER ]
- Set the point in JOINT Motion if not already programmed
Comments
0 comments