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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.

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

The TCP rotation is 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°