When should a robot be homed before operation or programming?

Homing a robot is the process of moving it to a predefined reference position, or "home" position, which is essential for establishing a known starting point for its operations. This procedure should be performed every time the robot is turned on because it ensures that the robot's internal coordinate system is accurately aligned with its physical position in the workspace.

By homing the robot at the beginning of each session, it can correctly interpret its positional feedback and execute tasks with precision. This is particularly important because, without proper homing, the robot may not be able to perform its tasks accurately or could even result in collisions or mechanical failures due to improper positioning.

In contrast, homing only after maintenance, after programming, or during troubleshooting are insufficient because they do not account for the necessity of recalibrating the robot's position after being powered on. In any operational scenario, the robot needs to be properly homed to function effectively.