I am looking for a way to home the travel track. I have found that if you move the arm via the travel track and then shut down the robot, upon start up its "home" position is where it was last positioned. How could I wire in a limit switch and control the TT to find its home position when commanded or added into a program?
Thank you.
I'm using an ODrive controller with a brushless motor / encoder for my 7th axis. The ODrive is setup in step/direction mode to connect to the Teensy. The ODrive can also be setup to automatically seek a home switch each time power is applied.
This setup depends on the robot being in an OK position BEFORE power is applied to the 7th axis,
@jimk I have added a limit switch, like Chris Annin's, at the coupling end of the track. I am running the latest 3.0 HMI program, and it states to land the "common" to Teensy terminal #36. The "NO and NC" of this switch are connected to the same Teensy source as the J1 through J6 limit switches. Autocalibrate button now autocalibrates the travel track on mine now.
