Intelitek SCORA-ER 14, User Manual

Page: 42 / 56

Home Switches
The
SCORA-ER 14
uses an optical home switch on each axis to identify the fixed
reference, or home, position.
For axes 1 and 2 the home switch is mounted on the same disk as the end of travel
switches, and a “ flag” is attached to the Harmonic Drive output shaft, as shown
in Figure 7-8.
The home switch for axis 3 is located near the top of the bracket alongside the
spline (slider), just below the axis’ upper limit switch.
The home switch for axis 4 is located within the worm gear housing.
During the homing procedure, the robot joints are moved, one at a time. Each axis
is moved until the flag cuts the beam of light. When that occurs, the optical
detector on each joint sends a specific signal to the controller.
Once the home switch location has been detected, the axis motor continues to
rotate until its encoder produces an index pulse. The point at which that occurs is
the axis home position.
LIMIT
SWITCH
HARMONIC DRIVE
LIMIT
SWITCH
AXIS NOT AT HOME AXIS AT HOME
OPTICAL
HOME
OPTICAL
HOME
FLAG
FLAG
Figure 7-8: Home Switch Activation
SCORA-ER 14 7 - 6 User’s Manual
9603