ntb:motors_init
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ntb:motors_init [2020/02/20 12:05] – [Mechanical Limits of the Tool Center Point Motor] 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 '' | ||
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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 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. | ||
+ | |||
+ | :!: Make sure that the TCP is properly fixed on the motor shaft. Two tiny screws must be carefully tightened. |
ntb/motors_init.1582196745.txt.gz · Last modified: 2020/02/20 12:05 by ursgraf