Measurement with setting parameter 8 = 1 (zero position can be approached)

If the zero position is set near the negative end of the travel range, the following procedure is recommended.

With this procedure, 3 parameters are configured in addition to parameter 8 (value = 1). Parameter 1 is entered explicitly. Parameter 2 is calculated automatically when starting the MOVI-C® CONTROLLER.

  1. Move the axis, e.g. using JOG_AXIS, to the zero position, which is defined as close as possible to the negative end of the axis travel range.
  2. Mark the position of the linear joint axis in space in this position.
  3. Measure the effective winding radius in this position using a measuring tape.
    • Parameter 1
  4. Move the axis as far as possible to the positive end of the travel range of the axis.
  5. Read the new "axis position":
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicAxis[Index]
    • Parameter 3
  6. Measure the (positive) distance "delta" (blue arrow in the figure) between the previously made mark and the new position of the linear joint axis using a measuring tape.
    • Parameter 4
  7. Enter the values determined for parameters 1, 3 and 4 and the value 1 for parameter 8, and update the configuration.
    • The crank is parameterized correctly if the joint axis value in the position where "delta" was measured matches "delta":
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicJoint[Index]

 

Alternative procedure for setting parameter 8 = 1

The following differences to the described procedure apply when the zero position is near the positive end of the travel range of the axis. The other steps are the same.

Step 1: Move the axis to the zero position near the positive end of the axis travel range.

Step 4: Move the axis as far as possible to the negative end of the travel range of the axis.

Step 5: Measure the (negative) distance "delta" and enter the value as a negative number in parameter 3.