Initialization - Zero reference
The initialization for the axis motors is the same as Initialization - Zero reference with the additional motor for the TCP.
Mechanical Limits of the Tool Center Point Motor
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°
Zero position is chosen in the middle of the free range.
Make sure that the TCP is properly fixed on the motor shaft. Two tiny screws must be carefully tightened.