Position Recovery

This procedure restores and calibrates the Safe Home Position on RobCo Robot systems following a positional deviation during operation.

Procedure

1. Safety pre-check. Ensure that no Emergency Stop (E-Stop) is triggered or active.

2. Fault identification. Identify the affected motor by the red blinking LED on its housing.

3. Switch operating mode. Turn the key switch on the Control Unit (CU) to Manual Mode.

   

4. Activate the hand-held device. Pick up the hand-held device and hold the three-way switch (yellow, elongated dead-man switch) in its center position. Do not press it all the way through!

5. Initiate system reset. Once the Reset button starts blinking, press it. Keep the three-way switch continuously held in the center position.

6. Axis calibration. Using the control panel, move the affected motor to exactly 0.0°. Set the global speed to a maximum of 3%.

   IMPORTANT

   Always start with the lowest blinking motor. Alternatively, all motors can be rotated directly to 0.0°.

7. Release the switch. Release the three-way switch after the exact position has been reached.

8. Physical zero-position verification. Verify that the motor is actually at its zero position. This is done visually using the milled notches on the housing of the corresponding motor.

9. Confirmation reset. Press the three-way switch again and press the Reset button once more.

10. Save the Safe Home Position. Now hold the Reset button for at least 5 seconds. The motor's LED will stop blinking.

11. Status check and cascading. If necessary, repeat the steps above sequentially for additional motors. Once all Safe Home Positions have been successfully restored, the Robot will illuminate yellow.

12. Brake test cycle. Fully close the Robot's brakes via the panel, then open them again to complete the calibration.

Precision

Reducing the global travel speed to a maximum of 3% protects the mechanical components during the zero-point approach and ensures exact calibration of the safety zones.