Although Zaber endeavors to make our products easy to use, some tasks are unavoidably complex. Modifying the hardware of a Zaber product (e.g., adding a limit sensor or encoder) is one such task.
Things to Check
After configuring the modified hardware it is important to check that the product still behaves as expected. The following are some suggestions of things to check, but the main goal should be to fully exercise the hardware that has been added or changed.
- Send the home command to ensure that the product can still home from different positions. If the home sensor/encoder index mark is not at the start/end of travel, check that it can still home from either side of the sensor.
- Homing is more robust to invalid configurations than normal movement commands. Send a move abs ... command to ensure it moves to the position you expect and performs well (e.g., no grinding sounds, etc.).
- Ensure that the device never tries to exceed the specified limits. Sending move max and move min commands are good ways to check this behaviour. Also check that each limit triggers when expected and has the expected side effects (if any).
Here is a list of symptoms and some possible causes for them. Please contact Zaber Customer Support for further assistance.