ntb:motors_init
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ntb:motors_init [2020/02/20 12:06] – [Initialization - Zero reference] ursgraf | ntb:motors_init [2020/02/27 18:54] – ursgraf | ||
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==== Mechanical Limits of the Tool Center Point Motor ==== | ==== Mechanical Limits of the Tool Center Point Motor ==== | ||
The TCP rotation is limited by two metall pins. The maximum turn angle is calculated as follows:\\ | The TCP rotation is limited by two metall pins. The maximum turn angle is calculated as follows:\\ | ||
- | {{ : | + | {{ :delta: |
sin(γ/2) = r/R | sin(γ/2) = r/R | ||
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β = 2*PI - 2 * 0.06 = 6.16 (rad) ≅ 353° | 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: 2023/05/25 14:47 by ursgraf