Manual

Teach Range
Instead of having the kangaroo automatically determine the travel range, you can also teach it a range
manually. To do this, during tuning you select Teach Tune (Mode 1) then move the mechanism from one
end of its travel to the other. The Kangaroo will save this range. During the tune, the Kangaroo will move
the system between the positions you have taught in order to calculate the tuning parameters. If you
are using velocity mode, for example with a mobile robot, what you are defining is a safe range of
motion for tuning only. In velocity mode the robot can travel any distance as long as a velocity is
commanded. When operating in position mode, this range will be the travel unless you are using serial
inputs, in which case you can command any distance or speed. When using quadrature encoders and
position mode with a teach tune, you must ensure the mechanism is in the startup position before
applying power.
Teaching the range is especially useful when you are using a potentiometer for feedback and are
commanding only two positions. In this case, by teaching both desired positions you can select the
output position with a simple toggle switch on the input between S1 and 5v. Analog input would be used
for this purpose. Mechanisms such as screens (retracted or lowered), doors (open or closed) and chutes
(right or left) are good examples of this type of system.
Soft limits
In any of the position limited modes, software limits can be set inside the maximum travel range, to
prevent physically contacting the limits except in a fault case. This is often a good practice. By default,
the soft range is set to 99% of the hardware range unless you are using Teach Range. This can be
modified using the DEScribe software.