motors_init

# 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 - Upper limit  Upper limit calculation shown below Upper limit calculation detail

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)

(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°.

### Mechanical Limits of the Axis Motors - Lower limit

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

### Mechanical Limits of the Tool Center Point Motor

The TCP rotation is also limited by two metall pins. The maximum turn angle is calculated as follows: sin(γ/2) = r/R 