5.3.6        Debugging Homing Function

After parts (motors, reduction gear units, battery, etc.) have been replaced or robotic arm has hit the work piece, the origin of Dobot M1 will be changed. You need to set homing point after resetting the origin.

Dobot M1 has installed homing switches near the J1, J2 and J3 limitation position respectively. When Dobot M1 moves to the limit with a signal triggered by the homing switch, Dobot M1 will move backward at low speed and stop moving after separating from the homing switch, which indicates that Dobot M1 has moved to the homing point. At the same time, an alarm about limitation is generated, you need to jog the Joint coordinate to clear the alarm.

NOTICE

Ÿ   Only Dobot M1 of which SN number is DT2118xxxxx and later numbers has installed the homing switch. If not, this procedure is not supported.

xxx indicates the random number, please replace it based on site requirements.

Ÿ   Please make sure that the A9 firmware version is 02005800 or later, that the Dobot firmware version is 1.3.0 or later, that the driver firmware version is 1.3.2 or later before executing homing procedure. Otherwise, a limited alarm will be triggered when executing homing procedure, resulting in homing failure. The Dobot M1 firmware versions can be viewed on the M1Studio > Help > About M1Studio page. If the related versions are too low, please upgrade them. For details, please see 6.9.2 Upgrading Firmware.

 

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to a PC successfully.

Ÿ   Dobot M1 has been connected to an emergency stop switch.

Procedure

DANGER

Please DO NOT click Initialization.exe when executing homing procedure. Otherwise, Dobot M1 may move following an unexpected path, resulting in interference with peripheral equipment.

 

Please select Tools > Home on the M1Studio page, and Dobot M1 will move automatically according to the following steppes.

Step 1         J3 moves to the upper limit with a signal triggered by the homing switch, and moves backward at low speed to separate from the homing switch, and then stops moving.

Step 2         J1 and J2 move to the limit as lefty hand orientation with signals triggered by homing switches of J1 and J2, and move backward at low speed to separate from the homing switches, and then stop moving, indicating that Dobot M1 has moved to the homing point.

After the homing procedure is completed, the coordinate of the homing point is shown as Figure 5.25. If the coordinate you get is quite different from Figure 5.25, it indicates that the homing procedure is failed, please re-execute again.

Figure 5.25  Homing point














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd