Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Diagnostics for the Single-Arm Robot
Brooks Automation
Revision 1
9-27
Test 9: R-Home Test and Set
The R-Home Test and Set determines and sets the physical Home position of the
Radial axis. Physical position is the position in the robot polar coordinate system.
Three operations are available. Use the
Adjust R at home
and
Adjust R at index
oper-
ations only if you need to adjust the physical position at which the Home switch and
Index are activated. For example, to have the R-axis home flag activate at 5.0 in (127
mm) from its Center Overlapping Position (5.0 in or 127 mm center-to-center), press
the
Adjust R at home
button. Center Overlapping Position (COP) is the position
where the upper arm link is overlapping exactly in the middle of the lower link.
The
Set home offset
operation verifies that the Home offset is correct or assists in
recalculating it.
NOTE:
EQT automatically saves the new home offset to the Robot Parameter File in NVS-
RAM upon exiting this step.
For more details, refer to the description of STEP #9 (R-HOME TEST & SET) descrip-
tion.
Figure 9-13: Home Test and Set Dialog Box
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