motors_init
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| Both sides previous revisionPrevious revision | Next revisionBoth sides next revision | ||
| motors_init [2019/12/01 08:29] – [Mechanical Limits of the Axis Motors - Upper limit] graf | motors_init [2019/12/01 08:31] – [Mechanical Limits of the Axis Motors - Upper limit] graf | ||
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| Line 18: | Line 18: | ||
| Using following trigonometric formulas in (3): | Using following trigonometric formulas in (3): | ||
| - | |||
| (4) t = tan(β / 2) | (4) t = tan(β / 2) | ||
| (5) sin(β) = 2 * t / (1 + t^2) | (5) sin(β) = 2 * t / (1 + t^2) | ||
| - | (6) sin(β) = (1 - tan^2(β/2)/(1+tan^2(β/2) | + | (6) sin(β) = (1 - t^2 / (1 + t^2) |
| Leads to: | Leads to: | ||
| - | \\ \\ | + | |
| - | //(7) (s+B)*t^2 + 2*L*t + (s-B) = 0// \\ | + | |
| - | \\ | + | |
| Solutions are: | Solutions are: | ||
| - | \\ | + | |
| - | // t1 = 0.2736 -> β = 30.6°// \\ | + | t2 = -2.1157 (neg. solution) |
| - | // t2 = -2.1157 (neg. solution)// \\ | + | |
| - | \\ | + | |
| Hence, the maximum angle the axis can turn is // 90° + β ≅ 120°//.\\ | Hence, the maximum angle the axis can turn is // 90° + β ≅ 120°//.\\ | ||
| - | \\ | + | |
| ==== Mechanical Limits of the Axis Motors - Lower limit ==== | ==== Mechanical Limits of the Axis Motors - Lower limit ==== | ||
motors_init.txt · Last modified: 2021/06/11 16:19 by ursgraf