Manual

4-20 Configuration and Characterization
4.9 Robot Configuration
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.
4.9.1 Z-Height
To set the Safe Z-height:
1. Click on
Configure > Robot Settings from the ECXP Edit Screen menu bar.
 The Robot Settings dialog box opens. See Figure 4-19.
Figure 4-19 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
SafeZ (inches) value field.
 When you click on the
SafeZ (inches) value field, the Teach Field button appears.
4. Click on the
Teach Field button.
 The value entered is the current Z-coordinate of the tool tip, and should be negative.
 If you wish to edit this value manually, select the property field and enter a new value.