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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 - 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°.