Manual

Appendix B- Instruction Properties B-9
Find Home
Description: Causes the robot to perform a find home operation, and leaves the robot at the
home position.
Properties:
Property Description
Only If Needed
Default = True.
 If set to True, homes the robot only when necessary.
 If set to False, homes the robot unconditionally.
Z Only
Default = False.
 If set to True, only the Z-axis is homed.
 If set to False, the X, Y, and Z-axes are homed. Z is homed first, then X
and Y.
Find Needle
Description: Updates the offsets of a needle. This would normally be done after a needle change so
ECXP can learn the position of the new needle.
Properties:
Property Description
Error Procedure
Name
Name of the procedure to call if the preset error tolerance is exceeded. Click on
the List button in the property field to select from a list of the procedures in the
currently loaded programs. For example, you can create a procedure in the
macro program with a Set Output instruction that turns on the flashing red light
on the workcell light tower.
Safe Z Approach
Move to the needle finder apparatus at the Safe Z height. Normally True, but a
user might want to set this to False and add a move instruction before this
instruction to save time (in other words, approach with less clearance).
Safe Z Depart
Move to the Safe Z height after the operation. Normally True, but a user might
want to set this to False and add a move instruction after this instruction to save
time (in other words, depart with less clearance).
Tool
Default = Tool displayed in Current Tool Selector when instruction created. Tool
to use for this instruction. Click on List button to select different tool.