Robotics: Homing for belt kinematics - what must be observed?

Question:
What must be observed when performing homing for belt kinematics?
 
Answer:
Due to the mechanical coupling via the rotating toothed belt and the limited traversing range, a special proceeding is required for homing the axes of belt kinematics. For tool movements in the Tool Center Point (TCP) in the Cartesian coordinate system in X and/or Z direction, the real axes (A1, A2) must be controlled in a certain way:
  • X direction:  both real axes (A1, A2) in the same traversing direction
  • Z direction:  real axes (A1, A2) each in opposite traversing directions
This must be considered when homing belt kinematics. 
You may choose between the following options for homing belt kinematics:
 
Homing option 1:
  • Use manual jog to move the tool (TCP) to a defined mechanical position (home position).
  • After this, execute "Direct home position setting" for both real axes.
  • Homing status: "Home position known". 
Homing option 2:
  • Select the same homing parameters for both real axes (A1, A2), in particular, the same homing mode and the same acceleration and speed values.
  • In the first step, perform homing to mechanical stop in X direction (same traversing direction of the real axes).
  • Then perform homing to mechanical stop in Z direction (real axes in opposite traversing direction).
  • Homing status: "Home position known". 
Tip: When using absolute value encoders, the belt kinematics only has to be homed once during commissioning. 

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AKB-ID: 201600143
Last update: 2024/01/11
Category: FAQ, Tips and Tricks

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