Home

This command starts the robot and MEGP 25* gripper homing process (Section 2.3.1). While homing, it is critical to remove any obstacles that could hinder the robot and gripper movements.

Syntax

Home()

Responses

• [2002][Homing done.]

• [1032][Homing failed because joints are outside limits.]

• [1014][Homing failed.]

The first response (2002) is sent if homing was completed successfully. The second response (1032) is sent if the homing procedure failed because it was started while a robot joint was outside its user defined limits. The last response (1014) is sent if the homing failed for other reasons.

Usage restrictions

This command can only be executed when the robot is activated or already homed (in which case it will return the response and do nothing).

Note

Before homing is completed, the robot’s accuracy is lower than after homing. As a result:

• The reported real-time position will be less accurate (GetRtJointPos, GetRtJointVel, GetRtCartPos, GetRtCartVel, etc.);

• The robot may not reach the exact requested position when using Recovery mode to move the robot before homing.

Cyclic protocols

In cyclic protocols, the Home command is mapped to the Home bit in the RobotControl data. See Table 4 for more details.