Differences

This shows you the differences between two versions of the page.

--- ntb:control_system [2019/11/30 11:02] – graf
+++ ntb:control_system [2021/10/22 12:05] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Control System ======
-The figure below shows the complete control system for our delta roboter. The building blocks together with their connecting signals are denoted as given in the code.
-{{:delta:software:delta_ntb:controlsystem_ntb.jpg|Control System of the Delta Roboter}}
 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 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 for 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.