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c. fine calibration
This feature allows you to set a reference position, so you can
check how true your calibration is given an event where you have
a bent limit switch or must replace a part of the robot. For
example, you can jog the robot to some reference position that
you know, perhaps with the robot holding a pointer and going to a
known spot, you could then press "teach fine calibration position"
to save this position. Then later you can press "Go to fine
calibration position" to return to the originally taught position and
check accuracy. If its off, you can jog the robot in small steps to
the correct calibration position and then press "execute fine
calibration" and your calibration will be adjusted to the original
reference position.
d. Direction Defaults
the calibration defaults are set to the side of the axis that the limit
switch is mounted on. If for example you were building your own
custom robot you could change these values to change the
direction the robot drives each axis to the calibration limit switch.
there are 6 values - one for each joint and they can only be a "0"
or "1" for negative direction or positive direction.
The motor direction outputs work in the same way and allow you
to change to motor drive direction from clockwise to
anticlockwise if you are building a custom robot and your
mechanics require a motor to spin the other way. again, there are
6 values - one for each joint and they can only be a "0" or "1" for
negative direction or positive direction.
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