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Initialization - Zero reference
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.
Mechanical Limits of the Axis Motors
The axis motors have mechanical upper and lower limits.
Upper limit
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°.
Lower limit
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°.