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Answered The issue regarding home positioning of my robot

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Mckenzie Ingram

Dear all !!!

I am facing an issue regarding home position of the robot and I am in need of urgent help.

I have installed a robot couple of years ago for a certain purpose (which i don't want to mention as it's not necessary). This is FANUC R-30iB robot having an IRVISION camera for locating different parts in hopper and is setting the parts over a conveyor belt.

Right from the time when I installed this robot, I have been trying to relocate it but due to some issues I was not able to do so because I lacked training.

The robot was working well in its original location until i decided to move it. When it comes to technical aspects, it is not coming in my budget and I am managing productions myself and I am required to make it to running condition again as soon as possible.

There are different faults which I am not yet able to cover.

  • "APSH-155" home position on recorded.
  • "APSH-156 specify home In reference position menu".

I have researched it almost everywhere but not able to find any solution. Please extend your support and guide me through this phase. I shall be thankful.

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4 comments

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  • Avatar
    Muhammad Ishaq
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    Dear Ingram,

    The faults which you have mentioned are only "Warning" signs and these will not stop or halt your robot. This has happened because of the home reference position was never recorded which has never happened for the robot to run.

    When the robot is stopping and fault is occurring then press menu button over the teach pendent and look for the alarms. If there are any alarms then please post it.

    Thank You

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  • Avatar
    Cherly Hopf
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    Mckenzie Ingram

     

    You will need to do setup homing..Follow below thread to set up homing. 

     

    https://forum.diy-robotics.com/hc/en-us/articles/360036157711-Setting-up-and-calling-At-Perch-position

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  • Avatar
    Ezequielo Murillo
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    Dear Ingram,

    Here's Some information about one of the error you are getting, you might be interested in:

    APSH-155 HOME position not recorded
    Cause: The HOME position has not been recorded yet. The HOME position is contained in Reference Position menu.
    Remedy:

    1. Go to the SETUP menu.
    2. Select Reference Position from the [TYPE] menu.
    3. Jog the robot to the HOME position.
    4. Record your reference position, and then verify that it is a valid home position.
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  • Avatar
    Howard Coleman
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    Hi Mckenzie,

    You may like to set the home position in case if you are interested to use the UOP signals. You can easily record certain specific home position in the reference position of a menu. You can do this mere by following the mentioned criteria below. 

    Go to MENU >> Click on SETUP >> Press on (F1)TYPE >> Click on Ref Position

    After that you should record the home position and set it to Ref Position 1, then give it tolerance angles if you like and at the end just configure the I/O to turn ON/OFF at the position of reference.

    Good luck with this.

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