====== Homing ======

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>  **

{{:reddot.png?nolink&24x24}} = Homing needed.

{{:blackdot.png?nolink&26x26}}= Zero position sensor is active.\\
//These symbols is shown at the function that it refers to. //

//{{:2_manual_b.png?direct&600x360}} //

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===== Instruction =====

**1. **From the start screen, go to manual screen.

**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.

  * **a. **If not zeroed, continue to hold the boom down-button until you receive a 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.

  * **a. **Check that the sensor is active when the tower points forward.
  * **b. **Move the tower to the left, about 20 degrees, until the sensor indicator becomes inactive.
  * **c. **Move the tower to the right until the sensor indicator becomes active and then inactive again.
  * **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.
{{:homingtower.png?direct&200x212}} <font 12px/inherit;;inherit;;inherit>//Green = Active sensor area//</font>

**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.
  * **b. **Check that the zero position sensor is active when the telescope is at zero (fully retracted).
**6.**  Move the **[[:parts:arm|arm]]**  twice in each direction, passing the home position sensor in both directions.

  * **a.**  Check that the sensor is inactive when the arm is parallel with the boom
  * **b.**  Move the arm outwards, past 30 degrees, until the sensor indicator becomes active and then inactive again
  * **c.**  Move the arm inwards until the sensor indicator becomes active and then inactive again
  * **d.**  Repeat the sweep outwards and inwards until the red homing symbol disappears.
  * **e.**  Move the arm back to parallel with the boom.
{{:homingarm.png?direct&310x150}} \\
 <font 12px/inherit;;inherit;;inherit>//Green = Active sensor position//</font>

**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}} \\
 <font 12px/inherit;;inherit;;inherit>//Green = Active sensor position//</font>

**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).
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Still having problems even after homing? Your robot could also have lost its parking positions. Contact **Envirologic**  or your distributor for further assistance.