Homing

Overview

To restore the axis positions of the robot axes after a reboot of the controller, use the homing mode IF_Homing.RestorePosFromAxisEncoder(...).

Set the input parameter i_lrAbsEncOffset to 500.0 so that the position of the axes is restored properly.

Example for AxisA

stRobotInterface.iq_ifHoming.RestorePosFromAxisEncoder(
                         i_etComponent := ROB.ET_RobotComponent.AxisA,
                         i_lrAbsEncOffset    := 500.0,
                         i_xRestoreOnInit    := TRUE,
                         i_xRestoreOnHoming := TRUE,
                         etDiag =>,
                         q_etDiagExt =>,
                         q_sMsg    =>);

Example for AxisB

stRobotInterface.iq_ifHoming.RestorePosFromAxisEncoder(
                         i_etComponent := ROB.ET_RobotComponent.AxisB,
                         i_lrAbsEncOffset    := 500.0,
                         i_xRestoreOnInit    := TRUE,
                         i_xRestoreOnHoming := TRUE,
                         etDiag =>,
                         q_etDiagExt =>,
                         q_sMsg    =>);