Wednesday, March 05, 2025, 13:00

Implemented and tested travel zone restrictions for the 1000kg crane to prevent collision with the manipulator arms. West operator station is currently occupied so testing was done and confirmed functional for the East operator station.

Movement of the crane is restricted and limited to only moving out of the zone in the following coordinates. Referencing the X and Y position to calibrate the encoder will bypass the zone restriction interlocks.

East Operator Station restriction Zones:

3048mm < X < 4601mm

1550mm < Y < 1680mm

Restrict +X When: 

3048mm < X < Mid point (3824mm)

1550mm < Y < 1680mm

Restrict -X When:

Mid point (3824mm) < X < 4601mm

1550mm < Y < 1680mm

Restrict +Y When:

3048mm < X < 4601mm

1550mm < Y < 1680mm

-Y is not restricted because it is always a safe operation.

West Operator Station restriction Zones:

(TO BE ADDED LATER)