ntb:motors_init
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ntb:motors_init [2020/02/20 12:04] – [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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====== Initialization - Zero reference ====== | ====== Initialization - Zero reference ====== | ||
- | The '' | ||
- | |||
The initialization for the axis motors is the same as [[: | The initialization for the axis motors is the same as [[: | ||
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==== Mechanical Limits of the Tool Center Point Motor ==== | ==== 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: |
+ | |||
+ | sin(γ/2) = r/R | ||
+ | γ=2*arcsin(r/ | ||
+ | |||
+ | 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 |
- | // | + | |
- | \\ | + | |
- | 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. |
ntb/motors_init.1582196647.txt.gz · Last modified: 2020/02/20 12:04 by ursgraf