A reference position defines position limits within which an output signal will turn on. To use the reference position utility you specify a joint position for each axis of your robot, assign an output signal to the position, and, optionally, specify tolerance ranges for each axis joint position.
To use a reference position, your program must contain a taught joint position whose axes locations match those of the reference position.
Table 1. Reference Position LISTING Screen Items
ITEM | DESCRIPTION |
---|---|
No. |
This item shows the number of available reference
positions. Ten is the maximum. NoteFor SpotTool+ with the Default Dispense option, Reference positions #1, #2 and #3 are reserved for respective use with MOV_HOME, MOV_PURG, and MOV_REPR Teach Pendant macro programs. |
Enb/Dsbl |
When set to Enable , this item allows the system to check whether the robot is at the specific joint axes positions when no tolerance range is set, or within the specified tolerance range of the joint reference position. If the robot is in the range, the specified signal is turned on. If the robot goes out of the range, the signal turns off. This can be set from the LIST screen or the DETAIL screen. When set to Disable, this item allows the system to ignore the reference position check. This can be set from the LIST screen or the DETAIL screen. |
@Pos |
This item indicates whether the robot is currently at any reference position that is enabled. |
Comment |
This item allows you to enter a comment about the reference position. This can be set from the LIST screen or the DETAIL screen. |
Table 2. Reference Position DETAIL Screen Items
ITEM | DESCRIPTION |
---|---|
Reference position number |
This item indicates the reference position number the screen is currently displaying. |
Comment |
This item allows you to enter a comment about the reference position. This can be set from the LIST screen or the DETAIL screen. |
Enable/Disable |
When set to Enable , this item allows the system to check whether the robot is at the exact joint axes positions when no tolerance range is set, or within the specified tolerance range of the joint reference position. If the robot is in the range, the specified signal is turned on. If the robot goes out of the range, the signal turns off. This can be set from the LIST screen or the DETAIL screen. When set to Disable , this item allows the system to ignore the reference position check. This can be set from the LIST screen or the DETAIL screen. |
Is a Valid HOME? If your system has home checking |
This item allows you to specify whether this reference
position will be checked as a home position, if your system has home checking.
When Is a Valid HOME is set to TRUE, this reference position will be checked
as a home position. NoteIn DispenseTool, Reference position #1 is reserved and will be automatically assigned as the last position in the MOV_HOME.TP program |
Signal Definition |
This item allows you to specify the digital output or robot output signal that turns on and off as the robot moves in and out of the specified tolerance range. |
Joint Axis Location J1 through J[n] |
This item allows you to enter the angle of each joint for your robot that together will form the reference position. |
Tolerance Range +/- 0.000 |
This item allows you to specify the acceptable position limits, or tolerance range, of each joint. After the robot is within these position limits, the assigned digital output (DO) or robot output (RO) signal turns on. A tolerance of 0.5 to 1.0 per axis usually works well. |