ntb:motors_init

The initialization for the axis motors is the same as Initialization - Zero reference with the additional motor for the TCP.

The TCP rotation is limited by two metall pins. The maximum turn angle is calculated as follows:

sin(γ/2) = r/R γ=2*arcsin(r/R)= 0.0600 (rad) = 3.438°

That is the value for one side. The other side is identical, so the maximum turn angle is

β = 2*PI - 2 * 0.06 = 6.16 (rad) ≅ 353°

Zero position is chosen in the middle of the free range.

ntb/motors_init.txt · Last modified: 2020/02/27 19:00 by ursgraf