Differences

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

--- ntb:motors_init [2020/02/20 12:03] – [Initialization - Zero reference] ursgraf
+++ ntb:motors_init [2023/05/25 14:47] (current) – [Mechanical Limits of the Tool Center Point Motor] ursgraf
@@ Line 1: / Line 1: @@
 ====== Initialization - Zero reference ======
-The ''Calibration Sequence'' can be started by triggering the safety event ''doCalibrating''. This can be done by pressing the red button until this lights up. Press and hold the red button for 2 seconds, this will trigger the Safety Event ''doCalibrating''. When finished with calibrating, press the red button once again. Press the green button to get back in normal operation mode.
+The initialization for the axis motors is the same as [[:motors_init|]] with the additional motor for the TCP.
-The initialization for the axis motors is the same as [[:motors_init|]]
 ==== Mechanical Limits of the Tool Center Point Motor ====
-The TCP rotation is also 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:tcp-limit.jpg?300 |TCP limit}}
+{{ :delta:ntb:software:tcp-limit.jpg?300 |TCP limit}}
+  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°
-//sin(γ/2) = r/R//\\
+Zero position is chosen in the middle of the free range.
-//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°//.
+:!: Make sure that the TCP is properly fixed on the motor shaft. Two tiny screws must be carefully tightened.