Differences

This shows you the differences between two versions of the page.

--- calibration [2019/08/09 16:29] – visentin
+++ calibration [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1
@@ Line 1: / Line 1: @@
-===== Calibrating the Delta Robot =====
-If you need to calibrate the positions of the blocks for the Delta robot follow this steps:
-  - The Delta robot has to be powered up and running
-  - If the Delta is not in it's homing position:
-     - Press the blue button to stop the normal operating mode
-  - Else:
-     - Press the green and blue button
-  - Remove all plates
-You have to calibrate the Delta with each plate. Start with plate 0 -> that means no plate is used, and position 0.
-  - Put the actual plate to the actual position and move the TCP to the center of this position.
-  - Hit the blue button.
-  - Move the TCP inside the gap of the current block only in x and y direction.
-  - Hit the blue button again.
-  - If the actual position is number 3 go to the next step. Else increment the position number and start again with step 1.
-  - If the actual plate is number 3 you are finished. Else use the plate with the next higher number and start again with step 1.
-If you have calibrated all blocks on every position, put all blocks back and press the blue button. The Delta will move to it's homing position.
-----
-TODO
-  * Stop button: Press while in the ''CalibrateBlockSequence'' to continue to the next step.
-  * Start button together with stop button: If both buttons are pressed together in safety level ''slSystemReady'' the robot will start its calibration sequence.