The Home position of DIY Robotics standard programming is set a Ref Position 1. It is called “At Perch”.

You will find a downloadable

1. In T1 mode, move the robot to the desired “Home Position”.
2. PRESS –> [ MENU ]
3. SELECT –> [ 6 ] 6 SETUP
4. SELECT –> [ 7 ] 7 Ref_Position (see screenshot)
5. Bring the cursor to “Enb/Dsbl” of # 1
6. PRESS –> [ F3 ] [DETAIL]
7. PRESS –> [ ENTER ]
8. ENTER –> At Perch (see screenshot)
9. PRESS –> [ ENTER ]
10. PRESS –> [ SHIFT + F5 ] SHIFT and RECORD
11. Using ARROW –> Scroll down to the third line.
12. PRESS –> [ F4 ] TRUE (see screenshot)
13. Using ARROW –> Scroll down to the fifth line.
14. On the right column, ENTER –> 5
15. PRESS –> [ ENTER ]
16. Using ARROW –> Scroll down to the sixth line.
17. On the right column, ENTER –> 5
18. PRESS –> [ ENTER ]
19. Using ARROW –> Scroll down to the seventh line.
20. On the right column, ENTER –> 5
21. PRESS –> [ ENTER ]
22. Using ARROW –> Scroll down to the eight line.
23. On the right column, ENTER –> 5
24. PRESS –> [ ENTER ]
25. Using ARROW –> Scroll down to the ninth line.
26. On the right column, ENTER –> 5
27. PRESS –> [ ENTER ]
28. Using ARROW –> Scroll down to the tenth line.
29. On the right column, ENTER –> 5 (see screenshot)
30. PRESS –> [ ENTER ]
31. PRESS –> [ PREV ]
32. PRESS –> [ F4 ] ENABLE (see screenshot)

In a program, you have to add this program part in order to copy Ref_Pos1 in PR[1]

1. PRESS –> [ SELECT ]
2. Choose the program you want to add the homing command
3. Using ARROW –> Choose the program.
4. PRESS –> [ ENTER ]
5. Using Arrow, SELECT –> Where you want to add the command. (Must be before the point line telling the robot to go to PR[1:AtPerch])
6. PRESS –> [ F1 ] [INST] (if not available, PRESS –> [ NEXT ] )
7. SELECT –> [ 6 ] 6 CALL
8. SELECT –> [ 1 ] 1 CALL PROGRAM
9. PRESS –> [ F3 ] COLLECT
10. SELECT –> Karel Logs
11. PRESS –> [ ENTER ]
12. Using Arrow, SELECT –> GET_HOME Program
13. PRESS –> [ ENTER ]
14. Set the point in JOINT Motion if not already programmed

Tutorial – Setting up and calling at perch position.pdf

This tutorial shows how to set up your User Tool with a Teach Pendant from a FANUC robot.

You will find a downloadable

1. Set a teach pin on robot EOAT.
2. Set a pointed tip somewhere in the immediate environment of the robot.
3. PRESS –> [ MENU ]
4. SELECT –> [ 6 ] 6 SETUP
5. SELECT –> [ 5 ] 5 FRAMES (see screenshot)
6. PRESS –> [ F3 ] [ OTHER ]
7. SELECT –> [ 1 ] Tool Frame (see screenshot)
8. Using Arrow –> Select 1 of the 10 Tool Frame setup possible.
9. PRESS -> [ ENTER ] –Frame setup page displayed–
10. PRESS –> [ F2 ] [ METHOD ]
11. SELECT –> [ 1 ] 1 Three Point (see screenshot)
12. Using arrow, MOVE TO approach POINT 1 –> Move robot so the tip of teach pin is point to point in line with tip of the pointed tip placed in the robot’s direct environment.
13. PRESS -> [ SHIFT + F5 ] Shift [ RECORD ]
14. Using arrow, MOVE TO approach POINT 2 –> Do a 180° shift of the teach pin tip (jogging Joint 6). Then, move the robot to set the tip of teach tool to tip of the pointed tip set in the robot direct environment.
15. PRESS -> [ SHIFT + F5 ] Shift [ RECORD ]
16. Using arrow, MOVE TO approach POINT 3 –> With Joint 4 and 5, give the robot teach pin tip angle. Move the robot to set the tip of teach tool to tip of the pointed tip set in the robot direct environment.
17. PRESS -> [ SHIFT + F5 ] Shift [ RECORD ]

Tutorial – Setting up User Tool.pdf

1. Set a teach pin on robot EOAT. If not done, teach the tool frame of the teach pin (refer to User Tool Creation).
2. Set an origin of a working plan with an X and Y direction points
3. PRESS –> [ SHIFT + COORD ]
4. Using Arrow, SELECT –> TOOL (.=10)
5. SELECT –> [ 1 to . ] Enter Tool number of teach pin.
6. SELECT –> [ 6 ] 6 SETUP
7. SELECT –> [ 5 ] 5 FRAME
8. PRESS –> [ F3 ] [OTHER]
9. SELECT –> [ 3 ] 3 USER FRAME
10. Using Arrow, SELECT –> 1 of the 9 User Frame setup possible.
11. PRESS -> [ ENTER ] –Frame setup page displayed–
12. PRESS –> [ F2 ] [METHOD]
13. SELECT –> [ 1 ] 1 Three Point
14. Using Arrow, MOVE TO –> Orient Origin Point – Move the tip of teach pin to the origin point of the work plan.
15. PRESS -> [ SHIFT + F5 ] Shift [RECORD]
16. Using Arrow, MOVE TO –> X Direction Point – Move the tip of teach pin to X Direction Point given of the work plan.
17. PRESS -> [ SHIFT + F5 ] Shift [RECORD]
18. Using Arrow, MOVE TO –> Y Direction Point – Move the tip of teach pin to Y Direction Point given of the work plan.
19. PRESS -> [ SHIFT + F5 ] Shift [RECORD]

Tutorial – Setting up User Frame.pdf