HomeSet Statement

Specifies and displays the Home position.

Syntax
(1) HomeSet j1Pulses, j2Pulses, j3Pulses, j4Pulses [, j5Pulses, j6Pulses] [, j7Pulses] [, j8Pulses, j9Pulses]

(2) HomeSet

Parameters

j1Pulses: The home position encoder pulse value (integer) for Joint #1.
j2Pulses: The home position encoder pulse value (integer) for Joint #2.
j3Pulses: The home position encoder pulse value (integer) for Joint #3.
j4Pulses: The home position encoder pulse value (integer) for Joint #4.
j5Pulses: Parameter for 6 axis robots (including N series). The home position encoder pulse value for joint 5.
j6Pulses: Parameter for 6 axis robots (including N series). The home position encoder pulse value for joint 6.
j7Pulses: Parameter for Joint type 7-axis robots. The home position encoder pulse value for joint 7.
j8Pulses: Parameter for additional axis S joint. The home position encoder pulse value for joint 8 (additional S axis).
j9Pulses: Parameter for additional axis T joint. The home position encoder pulse value for joint 9 (additional T axis).

Return Values
Displays the pulse values defined for the current Home position when parameters are omitted.

Description
Allows the user to define a new home (standby) position by specifying the encoder pulse values for each of the robot joints.

Potential Errors

Attempting to Home without HomeSet Values Defined:

Attempting to Home the robot without setting the HomeSet values will result in an Error 2228 being issued.
Attempting to Display HomeSet Values without HomeSet Values Defined:

Attempting to display home position pulse values without HomeSet values defined causes an Error 2228.

HomeSet Statement Example
The following examples are done from the command window:

> homeset 0,0,0,0  'Set Home position at 0,0,0,0
> homeset
  0  0
  0  0

> home             'Robot homes to 0,0,0,0 position

Using the Pls function, specify the current position of the arm as the Home position.

> homeset Pls(1), Pls(2), Pls(3), Pls(4)