Actinav Home Position; Configuring Actinav Home Position - Universal Robots ActiNav Operating Manual

4.2. ActiNav Home Position

The ActiNav Home Position node defines the return position for the robot at the beginning a program,
and at each subsequent loop of the program.
The Pick and Place Loop always includes an Actinav Home Position node, that you must configure
to return the robot to a specific position before a new loop begins.
NOTICE
The robot arm must not be in a position to obstruct, or to intefere with, the scan area.
• Teach a Home Position that is outside of the scan area.
The program runs more effciently if the Home Position is along a reasonable
path between the bin and the Place location.

4.2.1. Configuring ActiNav Home Position

To configure an ActiNav Home Position node:
1. In the Pick and Place Loop program tree, select Home Position.
2. In the Do Custom Pose pane, ensure the Type is Robot pose.
3. Select Use Global Path Planning.
4. Tap Set Position. PolyScope shows the Movetab.
5. Move the robot to a specific position and tap OK.
ActiNav Autonomous Bin Picking 28
4. Simple application examples
Operating Guide