Measurement with setting parameter 8 = 2 (zero position zero or cannot be approached)

If the zero position is approximately in the center of the travel range so that the distance for the measurement would be shortened, or if the zero position is outside the travel range, the following procedure is suitable.

With this procedure, 4 parameters are configured in addition to parameter 8 (value = 1). Parameters 1 and 2 are calculated automatically when starting the MOVI-C® CONTROLLER.

  1. Move the axis, e.g. using JOG_AXIS, as far as possible to the negative end of the travel range of the axis.
  2. Read the position of the axis:
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicAxis[Index]
    • Parameter 3
  3. Mark the position of the linear joint axis in space in this position.
  4. Measure the effective winding radius "radius" in this position using a measuring tape.
    • Parameter 4
  5. Move the axis as far as possible to the positive end of the travel range of the axis.
  6. Read the new position of the axis:
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicAxis[Index]
    • Parameter 5
  7. Measure the (positive) distance "delta" between the previously made mark and the new position of the linear joint axis using a measuring tape.
    • Parameter 6
  8. Enter the values determined for parameters 3 to 6 and the value "2" for parameter 8, and update the configuration.
  9. The correct parameterization of the crank is plausible if the difference of the joint axis values in the two measuring points corresponds to the value "delta".

 

Alternative procedure for setting parameter 8 = 2

If the effective winding radius is to be measured at the positive end of the travel range of the axis unlike the "Measurement with setting parameter 8 = 2", the following differences will result compared to the described "Measurement with setting parameter 8 = 2". The other steps are the same.

Step 1: Move the axis as far as possible to the positive end of the travel range of the axis.

Step 5: Move the axis as far as possible to the negative end of the travel range of the axis.

Step 6: Measure the (negative) distance "delta" and enter the value as a negative number in parameter 6.