Best Practices: Difference between revisions
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==== Home ====
The most common universal position stored in position registers is the "Home" position. For our robots, we set the joint positions to zeros except for joint 5, which faces down. This means the tool can be moved in world frame XYZ after taking it to home, with no angles or error in Z motion. ▼
[[File:Homeposition.jpg|frame|right|This is the robot in our "Home" position]]
▲The most common universal position stored in position registers is the "Home" position. For our robots, we set the joint positions to zeros except for joint 5, which faces down. This means the tool can be moved in world frame XYZ after taking it to home, with no angles or error in Z motion.
==== Zeroing ====
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