igus Drylin Delta, Руководство пользователя

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 The Current Scale parameters define the max. current during normal operation (Load),
during the start-up phase (Start), at standstill (Idle) and during referencing (Ref).
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The Stepper Module uses Trinamic CoolStep technology to adjust the motor current
between these values and a lower limit value, which is a fraction of the Current Scale
value.
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At lower Current Scale values, total power consumption and heat generation are
lower. However, a so-called "motor stall" can occur. In this case the current scale
values must be increased.
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At higher values, there is no motor stall, but the system becomes hotter.
 The current scale during the reference movement can be set separately to avoid damage,
e.g. by collision.
 The higher the microstepping, the smoother the movement. In operation without encoder
a microstepping of max. 1:64 should be used.
 It is possible to reverse the direction of rotation of the encoder. This change is applied
after the next cold start of the controller. If the encoder direction does not correspond to
the motor direction, the axis does not move correctly but accelerates until a position lag
error occurs. In this case, the encoder direction must be changed, and the system
restarted. The axis should then function properly.
13.4. Calibration of the Robot
The robolink ® Robot Arms are referenced using reference switches. For design reasons,
however, these are not exactly on the zero positions of the axes. The offset between
reference switch and zero position is stored in the EEPROM of the Stepper Modules.
If the Robot was supplied with the Robot Controller, these offsets are already set.
To perform the calibration yourself, you will find the necessary steps on the Wiki (section
"Define the Zero Position Offsets", http://wiki.cpr-robots.com/).