Manual

Configuration and Characterization 4-13
4.7.3 Robot Configuration
4.7.3.1 Home
The Home position of the Robot is a known position within its workspace defined by X, Y, and Z
coordinate limit switches. When the Robot is at the Home position, the coordinates of the tool flange in
the Base Frame are X=0, Y=0, Z=3.5 inches. The Z-axis is all the way up in the Home position, and all
the way down when at the origin position. See 5.7 Reference Frames for additional information.
If the Robot loses track of its current position, it performs a homing operation, which is a sequence of
slow motions to the Home position, where the limit switches sense the Robot's arrival. The Robot then
resets its position to the Home position. To ensure coating accuracy, you can add a Position Verify
instruction to a product program or procedure.
To set the Safe Z Height:
1. Click on
Configure > Robot Settings from the ECNT Edit Screen menu bar.
! The Robot Settings dialog box opens. See Figure 4-10.
" NOTE The Robot Settings dialog box is only used to set the Safe Z Height.
Figure 4-10 Robot Settings Dialog Box
2. Move the Robot until the tool tip is above any component on the boards you are coating, and
any other component in the workcell with which the tool tip could collide.
3. Select the
Safe Z Height value field.
! When you click on the Safe Z Height value field, the
Teach Field button appears.