ntb:motors_init
Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| ntb:motors_init [2020/02/26 10:26] – [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 | ||
|---|---|---|---|
| Line 6: | Line 6: | ||
| ==== 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 16: | Line 16: | ||
| Zero position is chosen in the middle of the free range. | 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.1582709172.txt.gz · Last modified: 2020/02/26 10:26 by ursgraf