Joints

In the drive train, set the joint axes 1 and 2 as rotary axes with user unit "degrees". See chapter Configuring subordinate nodes. They correspond to belt pulleys 1 and 2. The pitch and the number of teeth are not set in the drive train but in the kinematic configuration.

Joint axes 1 and 2 are initially referenced by referencing the individual axes at the position where the robot is located. If the joint axes 1 and 2 are in position 0, then the X and Y coordinates are also 0. The robot can then be moved applicatively in a Cartesian manner up to the reference switches, e.g. first in Z and then in X direction. As soon as the reference switches are actuated, the SRL program is stopped or the Cartesian jog mode is interrupted by removing the jog signals. Afterwards, the robot is referenced again at the position reached by referencing the individual axes, so that X = Z = 0.

To configure the emergency stop ramps, see chapter Emergency stop ramps and software limit switches of the joints.