YASKAWA NX100 Instructions Manual page 113

8.5
Work Home Position
8.5.1
What is the Work Home Position?
The Work Home Position is a reference point for manipulator operations. It prevents interfer-
ence with peripheral device by ensuring that the manipulator is always within a set range as a
precondition for operations such as starting the line. The manipulator can be moved to the set
work home position by operation from the programming pendant, or by signal input from an
external device. When the manipulator is in the vicinity of the work home position, the work
home position signal turns ON.
8.5.2
Setting Work Home Position
Work Home Position Window
Operation
1 Select {ROBOT} under the
main menu.
2 Select {WORK HOME POS}.
3
Press the page key
The WORK HOME POSITION window is appears.
DATA
WORK HOME POSITION
R1 :S
Main Menu
When two or more manipulators exist in the system, use the page
GO BACK
.
GO BACK
PAGE
key to change the control group, or click on {PAGE} to
PAGE
select the desired control group.
DATA
WORK HOME POSITION
R1 :S
Main Menu
8-47
Explanation
EDIT DISPLAY UTILITY
ORIGIN CURRENT
0 0
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0
Short Cut Available to move to and modify operation origin
EDIT DISPLAY UTILITY
ORIGIN CURRENT
0 0
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0
R1 : ROBOT1
R2 : ROBOT2
Short Cut Available to move to and modify operation origin
8.5 Work Home Position
PAGE
PAGE