Calibrating the Rotational Axis

Move and align the rotational axis (and robot) in a clearly defined position in the working range of the machine (for example, put a plane surface of the mounted gripping device against an existing edge).

Describe the motor of the rotational axis by using the following parameters:

astControlled[ROB_GE_CA_ADDX_1].stHome.etMode := TPD_GE_HOME_RESTOREPOS_FROM_AXISENCODER;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeWritePos.lrPos := 0.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeWritePos.lrPeriod := 0.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeWritePos.lrAbsEncOffset := 500.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeSetpos.lrPos := 0.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeSetpos.lrEncoderPos := 0.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeSetpos.lrAbsEncOffset := 500.0;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeSetpos.lrRestoreWindow := 180;

astControlled[ROB_GE_CA_ADDX_1].stHome.stHomeSetpos.lrPeriod := 0;