[Tools]-[Robot Manager]-[Home Config] Page

Home Config allows you to configure the optional user home position.

For more details on the Home Config settings, refer to the following manual:

"SPEL+ Language Reference - HomeSet Statement., Hordr Statement"

Changing home position

When you select the [Home Config] tab, the current home position is read from the robot controller and displayed in the text boxes. If the home position has never been defined, then the text boxes will be blank.

To define the home position, you can enter an encoder position value for each of the four robot joints in the text boxes. Alternatively, you can select the [Jog & Teach] page to jog the robot to the desired home position, then select the [Home Config] page and click the [Read Current Position] button to read the current encoder position values.

Changing home order

[Home Order] specifies the order in which each joint moves to the home position. More than one joint can be homed in the same step.

Testing home

After making changes to the home position, open the [Robot Manager]-[Jog & Teach]-[Execute Motion] tab, and then click the [Home] button from the motion command.

Item	Description
Read Current	Click this button to read the current position encoder pulse value into the currently selected text field. The button text will change according which text field is selected.
Apply	Sets the current values.
Restore	Reverts to the previous values.
Defaults	Set the value of the [Home order] group box to the default value.
Clear	Clears all values in the [Home Position] group box.