Setting up and calling At Perch Position

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

You will find a downloadable PDF icon PDF version at the end of this page.

  • DURATION

+/- 15 minutes

  • RECOMMENDATION

N/A

  • WARNING!

N/A

  • DANGER

Robot will move directly at home so make sure that there is no collision while the task is performed.

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STEP BY STEP

  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)

CALLING AT HOME POSITION

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

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