Manual

Motion Range
Kangaroo supports several ways of defining the tuning and travel range. These are limit switches,
mechanical stops and teach range.
Limit Switches
Limit Switches are switches placed at the extreme ends of the device’s travel range. When the device
moves to or past the limit switch, the switch is pressed. It is a good practice to set the limit switch up on
the side of the mechanism rather than directly in front of it. That way, if the device moves slightly too
far, the limit switch is not damaged. If you are using limit switches with a Kangaroo x2, they should be
wired normally closed. You must do a Limit Switch Tune (Mode 2) in order to tell the device you are
using limit switches. The limit switches for channel 1 connect across the L1 and L2 inputs as shown
below. In either position or speed mode, when using limit switches, the device will stop at the limit
switches, even if you are commanding farther travel. When using limit switches, positions are
repeatable regardless of where the system was parked, as the device will automatically home to one of
the limit switches before operating. Because differential drive robots are non-holonomic, limit switches
are not meaningful in mixed mode, and are therefore not supported.
Limit switch connections
Limit Switch Inputs
Mechanical Stops
For systems that do not need as much precision, or as much setup time, physical stops are very
convenient. Instead of limit switches you would use use physical stops at the end of travel to stop the
device. Rubber bumpers are a common type of stop that works well. To enable physical stops, perfowm
a Mechanical Stop tune (Mode 3.) During tuning and at startup, the mechanism will slowly and gently
travel until it stops at the end. Once tuned and homed, the stops work just like limit switches. Although
the Kangaroo uses a slow speed and reduced power to seek out the ends of travel, you should still only
use this method of setting the motion range on physically robust systems. You should also not use this
mode with mobile robots, because on startup the robot will drive over or through whatever is in its path
until it encounters something sturdy enough to force it to a stop.