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service:service_instructions:homing_instruction [2024/03/19 01:00] – joachimservice:service_instructions:homing_instruction [2026/09/08 23:32] (current) – external edit 127.0.0.1
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 Homing means initialization (calibration) of the boom, tower, telescope, arm and nozzle absolute positions. If the robot have lost its homing, you need to redo the homing procedure. Homing means initialization (calibration) of the boom, tower, telescope, arm and nozzle absolute positions. If the robot have lost its homing, you need to redo the homing procedure.
  
-** <font 16px/inherit;;inherit;;inherit>Symbol explanations:</font>  **+**Symbol explanations:**
  
 {{:reddot.png?nolink&24x24}} = Homing needed. {{:reddot.png?nolink&24x24}} = Homing needed.
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 **2.** Press the{{:infobutton.png?nolink&30x30}}-button //(information / detailed view)// on the top right corner so you can see the absolute positions for all functions. **2.** Press the{{:infobutton.png?nolink&30x30}}-button //(information / detailed view)// on the top right corner so you can see the absolute positions for all functions.
  
-**3.** Move the **[[:parts:boom|boom]]**  to the absolute bottom. Check that the position is zeroed (0 or +1) automatically when it stops at the bottom.+**3.** Move the **[[:parts:boom|boom]]** to the absolute bottom. Check that the position is zeroed (0 or +1) automatically when it stops at the bottom.
  
   * **a. **If not zeroed, continue to hold the boom down-button until you receive a question.   * **a. **If not zeroed, continue to hold the boom down-button until you receive a question.
   * **b. **Press "Yes" on the question.   * **b. **Press "Yes" on the question.
-**4.**  Move the **[[:parts:tower_motor|tower]]**  twice in each direction, passing the home position sensor. The sensor indicator is active when showing a black/white dot on your screen. The red homing indicator disappears when the homing is done.+**4.**  Move the **[[:parts:tower_motor|tower]]**twice in each direction, passing the home position sensor. The sensor indicator is active when showing a black/white dot on your screen. The red homing indicator disappears when the homing is done.
  
   * **a. **Check that the sensor is active when the tower points forward.   * **a. **Check that the sensor is active when the tower points forward.
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   * **d. **Repeat the sweep to the left and to the right until the red dot disappears.   * **d. **Repeat the sweep to the left and to the right until the red dot disappears.
   * **e. **Move back so the tower points straight ahead.   * **e. **Move back so the tower points straight ahead.
-{{:homingtower.png?direct&200x212}} <font 12px/inherit;;inherit;;inherit>//Green = Active sensor area//</font>+{{:homingtower.png?direct&200x212}} //Green = Active sensor area//
  
-**5.**  Move the **[[:parts:telescope|telescope]]**outwards a few decimeters and then fully back in again.+**5.**  Move the **[[:parts:telescope|telescope]]**outwards a couple pulses and then fully back in again.
  
   * **a. **Check that the position is zero when the telescope is fully retracted.   * **a. **Check that the position is zero when the telescope is fully retracted.
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   * **e.**  Move the arm back to parallel with the boom.   * **e.**  Move the arm back to parallel with the boom.
 {{:homingarm.png?direct&310x150}} \\ {{:homingarm.png?direct&310x150}} \\
- <font 12px/inherit;;inherit;;inherit>//Green = Active sensor position//</font>+ //Green = Active sensor position//
  
 **7.**  Move the **[[:parts:nozzle_motor|nozzle]]**  at least two full revolutions in each direction (first, move the arm out so the nozzle is clear from the boom). **7.**  Move the **[[:parts:nozzle_motor|nozzle]]**  at least two full revolutions in each direction (first, move the arm out so the nozzle is clear from the boom).
  
 {{:homingnozzle.png?direct&105x161}} \\ {{:homingnozzle.png?direct&105x161}} \\
- <font 12px/inherit;;inherit;;inherit>//Green = Active sensor position//</font>+ //Green = Active sensor position//
  
 **8. **Make sure that all red homing dots have disappeared. **8. **Make sure that all red homing dots have disappeared.
   * **a. **If not, retry the homing for the function that has a red homing dot (you might have missed one sweep past the zero sensor).   * **a. **If not, retry the homing for the function that has a red homing dot (you might have missed one sweep past the zero sensor).
-—-+—
  
-Still having problems even after homing? Your robot could also have lost its parking positions. Contact **Envirologic**  or you distributor for further assistance.+Still having problems even after homing? Your robot could also have lost its parking positions. Contact **Envirologic**  or your distributor for further assistance.