Measurement with setting parameter 8 = 3 (winding radius cannot be measured)

If the effective winding radius cannot be measured, e.g. because it is not mechanically accessible, the following procedure can be used.

With this procedure, 5 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. Move the axis to approximately the middle of the axis travel range.
  5. Read the new position of the axis.
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicAxis[Index]
    • Parameter 4
  6. Measure the (positive) distance "delta 1" between the previously made mark and the new position of the linear joint axis using a measuring tape.
    • Parameter 5
  7. Move the axis as far as possible to the positive end of the travel range of the axis.
  8. Read the new position of the axis.
    • SEW_GVL.Interface_MyRobot.Basic.OUT.SetpointPose.
      alrKinematicAxis[Index]
    • Parameter 6
  9. Measure the (positive) distance "delta 2" between the mark previously made in step 3 and the new position of the linear joint axis using a measuring tape.
    • Parameter 7
  10. Enter the values determined for parameters 3 to 7 and the value "3" for parameter 8, and update the configuration.
  11. The correct parameterization of the crank is plausible if the differences of the joint axis values in the two measuring points 2 and 3 correspond to the values "delta 1" and "delta 2".