Pulnix TMC-7DSP User Manual download pdf (Page 11)

Figure 3 'Homef.mdl' - Home point search

Simulink model ‘Homef.mdl’ [2] was used to find the home position of Gimbal. That is, the zero

angles of both axes. Home point sensors were attached to Gimbal to be able to find the zero angles.

Home point search will be used in iteration of the Iterative Learning Control function, because it is

he only way to find the same starting point for iterations. Direction variables ‘X-DIR’ and ‘Y-DIR’

can be set to values 0 or 4, depending of the desired direction.

Figure 4 'Point.mdl' - Move to desired point/angle

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Pulnix TMC-7DSP User Manual Page 11