Manual

Setting up the tune parameters
In setup mode, the tune number will continue to blink, but dimmer and more rapidly. Depending on the
tune mode, there may be specific things that must be done with the system and inputs at this stage.
Mode 1: Teach Tune
In teach tune mode, you must physically move the system to teach the kangaroo the acceptable
travel range for tuning. The motors will not be powered at this point. Push each axis to one end of its
travel range, then to the other end of its travel range. Finally, push the system to the center of its travel
range and leave it there. For systems such as mobile robots that do not have defined travel ranges, use a
distance that will be safe when the device moves under its own power. Remember that you must define
the range for both channels, if you have motors attached to both channels 1 and 2.
To confirm the range and begin the teach tune cycle, click and release the autotune button
again. The LED will begin a countdown blink, first slowly and then rapidly. After a delay of 10 seconds,
the tune cycle will start. To increase the delay before the motors will move, click the button multiple
times. Each click adds 10 seconds to the delay.
The system will move automatically. Stay a safe distance away.
Mode 2: Limit Switch Tune
In limit switch tune mode, all that is required is to make sure the system starts up near the
center of its travel range, and none of the limit switches are depressed. Everything else will be handled
automatically. To begin the limit switch tune cycle, click and release the autotune button again. The LED
will begin a countdown blink, first slowly and then rapidly. After a delay of 10 seconds, the tune cycle
will start. To increase the delay before the motors will move, click the button multiple times. Each click
adds 10 seconds to the delay.
The system will move automatically. Stay a safe distance away.
Mode 3: Mechanical Stop Tune
Because using crash limits requires the mechanism to physically stop at the end of travel
(though at a low motor power) make sure that the mechanism will not bind up, jam or break when
driven to the end of its travel. To set up crash limit mode, move the system to approximately the center
of its travel range. To begin the limit switch tune cycle, click and release the autotune button again. The
LED will begin a countdown blink, first slowly and then rapidly. After a delay of 10 seconds, the tune
cycle will start. To increase the delay before the motors will move, click the button multiple times. Each
click adds 10 seconds to the delay.
The system will move automatically. Stay a safe distance away.