Second Home Position

The Second Home Position is used as a check point for the home position calibration, often in response to the “OUT OF RANGE (ABSO DATA)” alarm and “Check Position” message in the Human Interface Display Area.  The default SECOND HOME (Specified Point) location for the robot is where pulse data for each axis is displayed as all zeros and the alignment arrows or keyways for each axis are aligned. However due to cell layout it may not be possible for the manipulator to reach this position after installation, in this situation you can modify the second home position location to recover from these alarms.

Tip

If you have modified the second home position, it is also a good idea to create or scribe a new alignment mark for each axis. This will serve the same purpose as the alignment marks for the Home Position and will help to provide a visual in case of deviation.

How to restore the original Second Home Position

If you have modified the Second Home Position and need to bring it back to the original position of all 0’s there is an easy way to do this.

1. Create a Position Variable using Pulse data. This will populate with 0 pulse counts for each axis
2. Engage servos and hold the forward key until the cursor stops flashing and leave servos engaged.
3. With Servos still engaged, open the Second Home Position screen.
4. Ensure you see all 0’s for ‘current position” and press Modify then Enter.