Differences

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--- motors_init [2019/12/01 08:29] – [Mechanical Limits of the Axis Motors - Upper limit] graf
+++ motors_init [2020/02/27 18:43] – ursgraf
@@ Line 6: / Line 6: @@
-|{{:delta:zero_ref_ntb.jpg?350|}}|{{:delta:zero_ref_ntb_2.jpg?250|Upper limit calculation detail}}|
+|{{:delta:software:zero_ref_ntb.jpg?350|}}|{{:delta:software:zero_ref_ntb_2.jpg?250|Upper limit calculation detail}}|
 |Upper limit calculation shown below| Upper limit calculation detail |
@@ Line 18: / Line 18: @@
 Using following trigonometric formulas in (3):
   (4) t = tan(β / 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:
-\\ \\
+  (7) (s + B) * t^2 + 2 * L * t + (s - B) = 0
-//(7) (s+B)*t^2 + 2*L*t + (s-B) = 0// \\
-\\
 Solutions are:
-\\
+  t1 = 0.2736 -> β = 30.6°
-// 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°//.\\
-\\
 ==== Mechanical Limits of the Axis Motors - Lower limit ====
-{{:delta:motor-axis-calculation-lower-n.jpg?300|}}
+{{:delta:software:motor-axis-calculation-lower-n.jpg?300|}}
 For the lower limit of the Axis Motor the angle γ is measured to be about 5°.