Checking the homing¶

Homing is the robot's only position reference, so check it after any mechanical work, after a collision, and whenever the robot's accuracy seems off.

Home the robot and watch each joint: it must reach its switch, back off, re-approach slowly, and move on. A joint that grinds at a stop, or re-approaches at full speed, has a switch problem (Homing failures).
At the end, try the pin at the witness marks of each joint (Mastering). It should slide in, or nearly. A joint that is off by more than a degree was knocked, slipped, or its switch moved.
Home three times in a row and compare the witness marks each time. The pose should repeat exactly: if it does not, the switch or the sensor triggers inconsistently, or something in the joint moves.
Jog to a taught pose from a program and check that the tool is where it was taught.

A joint that homes repeatably but to the wrong place is mastered; a joint that does not repeat is repaired.

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