The Calibration Sequence can be started by triggering the safety event doCalibrating. This can be done by pressing the red button until this lights up. Press and hold the red button for 2 seconds, this will trigger the Safety Event doCalibrating. When finished with calibrating, press the red button once again. Press the green button to get back in normal operation mode.

The axis motors have mechanical upper and lower limits.

Upper limit	Upper limit detail	Lower limit
Upper limit calculation shown below	Upper limit calculation detail	Lower limit of the Axis Motor

L = 17.5
B = 15
s = 4

The upper limit can be calculated as follows:

(1) tan(β) = sin(β)/cos(β) = (B-y)/L
(2) cos(β) = s/y

Substitute (2) into (1) to get:

(3) L*sin(β)-B*cos(β)=-s

Using following trigonometric formulas in (3):

(4) t = tan(β/2)
(5) sin(β) = 2*tan(β/2)/(1+tan^2(β/2)
(6) sin(β) = (1-tan^2(β/2)/(1+tan^2(β/2)

Leads to:

(7) (s+B)*t^2 + 2*L*t + (s-B) = 0

Solutions are:
t1 = 0.2736 → β = 30.6°
t2 = -2.1157 (neg. solution)

Hence, the maximum angle the axis can turn is 90° + β ≅ 120°.

Upper limit	Upper limit detail	Lower limit
Upper limit calculation shown below	Upper limit calculation detail	Lower limit of the Axis Motor

Lower limit of the Axis Motor measured on the Delta robot, γ is about 5°.

The TCP rotation is also limited by two metall pins. The maximum turn angle is calculated as follows:

sin(γ/2) = r/R
γ=2*arcsin(r/R)= 0.0600 (rad) = 3.438°

That is the value for one side. The other side is identical, so the maximum turn angle is

β = 2*PI - 2 * 0.06 = 6.16 (rad) ≅ 353°.