====== Control System ======
The ntb version has a motor in the tool point center (TCP). Positive direction is clockwise when seen from the top.

The control system is the same as [[..::control_system|]], except that it does not have the 'circle planner ' block.
It is only possible to switch between mouse motion and automatic motion, where the automatic motions is the sorting and shuffling of the three blocks.
Also, it has a forth axis for turning the TCP and the ''AxisVector'' has four degrees.

{{:delta:ntb:software:controlsystem_ntb.png
|Control System of the Delta Roboter}}

When detecting blocks, the TCP moves down in a first step. Then it switches to force mode. In that mode, it moves forward by applying a constant force. This force should be as low as possible to avoid loud clicking when making contact with a block while it must be high enough to overcome friction.