UM-36
The first instruction is “Do Homing”.
This instruction does the homing,
so the carriage will move to the side
where the motor is installed.
It is necessary to “Do Homing” at least
once when turning the system on, in
order to reference the positioning of
the motor. We suggest to insert this
function in the “Before Start” method.
If the URCap is not enabled, or the
communication between YOUdrive
and servo drive is not established, the
program nodes will remain yellow. In
this case, you need to unlock Safety
pressing on the “UR+” tab and then
on “Reset and Enable”.
Do homing
The second instruction is “Move to target
position”. You can choose if the target
position (configurable) is absolute, based
on the homing, or relative.
Also, velocity and acceleration are con-
figurable values:
- Velocity is expressed in percentage of
max allowable velocity (beside you can
see the resulting velocity in mm/s).
- Acceleration is expressed in percent-
age of max allowable acceleration
(beside you can see the resulting ac-
celeration in mm/s
2
).
Move to target position
6 Rollon URCap manual
Fig. 74
Fig. 75
Fig. 76
Summary of Contents for ROLLON CTU 220-1I
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