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  1. RoboJob
  2. Software
  3. Turn-Assist
Note

The robot is in an unknown location and for some reason cannot move automatically to the home position.This document describes how to move the robot manually back to it’s home position.

1. Use following tools

teachPendant mech drawnFront
Teach Pendant (TP)

robotController mech drawnFront
Robot Controller

2. Procedure

2.1. Set the robot to manual mode

Put the three-position switch on the Robot Controller to T1.

robotController operation threePositionSwitch T1
Figure 1. robot controller T1 position

Put the two-position switch on the Teach Pendant to On.

teachPendant operation switch tpOn
Figure 2. teach pendant on

2.2. Enable manual movement by stopping the robot software

Notice the Busy and Run indicators on the top left of the teach pendant screen.At this moment they should be green, indicating that the robot software is running.

teachPendant plus screen busyRunOn
Figure 3. robot software running

Press SHIFT + the blank button (tool 1) under ENTER to stop the robot software.

teachPendant operation button shiftTool1
Figure 4. stopping the robot software

The Busy and Run indicators on the top of the teach pendant should become inactive.

teachPendant plus screen busyRunOff
Figure 5. robot software stopped

2.3. Reset all Faults

To move the robot in a safe way, one deadman switch on the back of the Teach Pendant must be in the safe middle position.

Both deadman switches have 3 positions:

  • Not pressed

  • Safe middle position

  • Fully pressed

Try if you can feel the three positions.To be able to reset the error and move the robot, only one of the two deadman switches has to be in the safe middle position.So don’t push too hard or too soft!

teachPendant operation switch deadmanSwitch
Figure 6. deadman switch

Press the SHIFT button together with the RESET button to clear all faults.

teachPendant operation button shiftReset
Figure 7. shift + reset

The fault indicator on the top of the teach pendant should become inactive.

teachPendant plus screen faultOffSoftwareStopped
Figure 8. fault indicator

2.4. Move the robot manually

Warning

Make sure that the robot doesn’t hit anything during the movement.Watch out for other people, surrounding machines, other objects and the robot itself.Make sure the dress out cables around the robot don’t get damaged.

Press COORD to change the way of moving.Keep pressing until JOINT is selected.The JOINT movement mode is the easiest to work with.You can move the joints one by one.

teachPendant operation button coord
Figure 9. coord button
teachPendant plus screen joint
Figure 10. movement mode

Press SHIFT + ±J1-8 to move the robot.

teachPendant operation button shiftMove
Figure 11. move buttons
robot operation jointAxis
Figure 12. joint axis

Press SHIFT + +% or -% to adjust the speed.

teachPendant operation button shiftSpeed
Figure 13. speed buttons

2.5. Manually send the robot to it’s home position

The robot program A5_MANUALTOHOME is designed to send the robot to it’s exact home position.

Press select on the Teach Pendent to open the list with available programs and select A5_MANUALTOHOME using the up- and down buttons.

teachPendant operation button select
Figure 14. teach pendant select button
teachPendant screen programList A5ManualToHome
Figure 15. program list

When A5_MANUALTOHOME is selected, press ENTER to open it.

With A5_MANUALTOHOME opened, activate the deadman switch and press SHIFT + FWD to execute the program.

teachPendant operation button shiftFwd
Figure 16. teach pendant shift + FWD

The robot will start moving to the exact home position.Release the SHIFT button or the deadman switch to stop the movement when needed.

Warning

Make sure that the robot doesn’t hit anything during the movement.Watch out for other people, surrounding machines, other objects and the robot itself.Make sure the dress out cables around the robot don’t get damaged.

During the movement, the Busy and Run indicators will become green.

teachPendant screen A5ManualToHome run
Figure 17. program running

When the robot has reached the home position, the indicators Busy and Run will become yellow again and the first line of the program will be selected.

teachPendant screen A5ManualToHome finish
Figure 18. program finished

2.6. Switch back to auto mode

Put the three-position switch on the Robot Controller to AUTO.

robotController operation threePositionSwitch auto
Figure 19. robot controller AUTO position

Put the two-position switch on the Teach Pendant to Off.

teachPendant operation switch tpOff
Figure 20. teach pendant off

Make sure that Step mode is inactive. Use the STEP button to toggle step mode.

teachPendant plus screen stepOff
Figure 21. teach step inactive

2.7. Restart the robot software

To restore the communication with the IPC, the robot software must be started again.The easiest way to accomplish this is to reboot the robot controller and IPC by cycling power.

3. How to get further help

Do not hesitate to contact us when you need additional support beyond the documents provided in the RoboJob Service Knowledge Base.

You may contact the RoboJob Service department using following means:

We kindly ask you to provide us the following information:

  • Serial number xx-xx-xxx

  • Description of the fault or defective part

  • Exact error code or message

  • What did the robot do

  • What was the robot supposed to do

  • Pictures or videos

You can send this information to us via email.To send large files you may make use of a file transfer service like WeTransfer: robojob.wetransfer.com.

An automatic confirmation will be sent upon receipt of your mail.

Choose files or drag and drop files
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