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currently the XYzero routine causes the stopbot to execute a sudden stop as soon as the endstop is reached.

however, if the physical endstop is not located right behind the sensor, there should be space to come to a ramped stop.

the ON INPUT command allows for a ramped stop by using the second parameter ( &TrgtHIT in the xyzero routine)
This should however only be used on the big-moves as you want to have a precise (repeatable) stopping point with the small moves.

Ramp-down should be adapted to stay within the end-stop detection.
Or after a big-move, the detection-interrupt could be adapted to only trigger when the carriage moves off the endstop.
(this would allow for moving on to the endstop without triggering a stop)

Done

• Started work on CE certificate document

To do's

Jens:

• Construct safety windows
• Mount sensors on windows and doors
• Wire safety electronics in bot2
• Make schematic of electronic wiring

James:

• Make map of safety documents
• Make roadmap
• Have risk analysis meeting
• Send examples of schematic of electronics wiring to Jens

Notes on schematic of electronic wiring

• Introduksjon/Innholdsfortegnelse (Introduction / Index)
• Fordeling (Inntak: hvordan kommer spenningen inn på anlegget? Beskrivelse av type spenningssystem etc.)
• Hovedstrøm (Effektkretser, normalt 230 / 400 V, -det som driver de store tingene som f.eks. motor)
• Styrestrøm (Normalt 24V, alt under 50 V DC og 120 V AC)
• Arrangementstegning (forenklet 2D skisse av fysisk plassering i tavle/styreskap)
• Rekkeklemmetabell / Klemmliste (Rekkeklemmer brukes i utgangspunktet for å skille mellom intern- og ekstern kabling inn i tavlen)
• Kabelliste (type kabel, info om skjerming og jord, dimensjonering [mm2]), fargekoder)
• I/O-liste (Innganger- og utganger på PLS'en (Programmerbar Logisk Styring))
• Parameterliste (evt. dekket i SICK-autogenereringsdoku'en)
• BOM-Liste (Bill of materials, evt. dekket i SICK-autogenereringsdoku'en)