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Pic 5-6 Encoding/decoding configuration
Pic 5-6-2 Encoding/decoding changes the configuration
5.7 Zero-point calibration
Description
The axis zero point calibration must be performed before the robot runs.
The robot can only perform Cartesian movement after the zero point calibration and move the
robot to a safe position. The mechanical position of the robot and the position of the encoder will
be coordinated during the zero point calibration process. For this, the robot must be placed in a
defined mechanical position, that is, the zero point calibration position. Then, the encoder return
value of each axis is stored. The calibration positions of all robots are similar, but not exactly the
Example: Code R[0]=42, DO[0~6] is associated, decimal 42 to binary is
01010100, the corresponding value of DO[0~6] is also 010101, if output
above DO[6] is associated Signals, such as DO[7~10] are all 0
Decoding is the opposite. Convert the associated binary DI signal to
decimal to get a value to the specified R register. For example: associate
DI[0~6]=010101, bind R[1], after decoding, R[1] =42
