User Manual
6-16 Configuration and Characterization
6.12 Robot Configuration
6.12.1 Home
The Home position of the Robot is a known position within its workspace defined by X, Y, and Z
coordinate limit switches. When the Robot is at the Home position, the coordinates of the tool flange in
the Base Frame are X=0, Y=0, Z=3.5 inches. The Z-axis is all the way up in the Home position, and all
the way down when at the origin position. See 6.12.2 Reference Frames for additional information.
If the Robot loses track of its current position, it performs a homing operation, which is a sequence of
slow motions to the Home position, where the limit switches sense the Robot's arrival. The Robot then
resets its position to the Home position. To ensure coating accuracy, you can add a Position Verify
instruction to a product program or procedure.
6.12.2 Reference Frames
All positioning in the workcell is done with reference to sets of position coordinates, called Reference
Frames. In ECXP, three different sets of Reference Frames are used: Base Frame, Product Frame, and
Pattern Frame. See Figure 6-14. As you face the front of the workcell, the X-axis is left to right, the Y-
axis is front to rear, and the Z-axis is up and down. The X, Y, and Z limit switches at the front left corner
of the Base Frame define the Home or Origin position of the Robot. The Z-axis is all the way up in the
Robot Home position.
A
X
Y
Z
B
X
Y
Z
C
X
Y
Z
0,0,0
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C
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0,0,0
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ZZ
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C
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0,0,0
A
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C
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A
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A
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B
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Figure 6-14 Reference Frames
6.12.2.1 Base Frame
The Base Frame (See Figure 6-14, Rectangle A) is the set of coordinates (X, Y, and Z) that define the
Robot's travel. The origin (Home) of the Base Frame is a known point in the workspace, defined by a set
of limit switches. In the Base Frame, the Z-axis is all the way down. When you configure the fixture, you
teach the Z offset from the Base Frame Z by teaching Z with the nozzle touching the substrate. See 6.9
Fixture Configuration. Items that reference the Base Frame are:
• All procedures (maintenance subroutines)
• Fixture Constraint Location
• Safe Z Height
Base Frame
Product Frame
Frame
Pattern
Actual View
Exploded View