ntb:motors_init
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| ntb:motors_init [2020/02/20 12:06] – [Initialization - Zero reference] ursgraf | ntb:motors_init [2023/05/25 14:47] (current) – [Mechanical Limits of the Tool Center Point Motor] 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 | ||
| Line 15: | Line 15: | ||
| 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. | ||
| + | |||
| + | :!: Make sure that the TCP is properly fixed on the motor shaft. Two tiny screws must be carefully tightened. | ||
ntb/motors_init.1582196804.txt.gz · Last modified: 2020/02/20 12:06 by ursgraf