Hello all,
I am going to ask a simple and straightforward question.
Can anyone of you tell me that what is basic relationship among joint angle and motor revolutions?
For instance, if one of the joints is moving the motor to full revolution of 360 degrees then what will i be seeing in terms of the angular momentum that the joint will have?
Looking for answers.
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Dear Turner,
Gear Ratio is the factor on which the relationship among angular momentum and joint angle is dependent.
Good luck
Dear Muhammad,
All I want to ask is that is there exist any approximate relationship among both factors? The basic reason that I want to know of the relationship is the quick mastering. I am interested to know of the extent near to ZERO for quick mastering.
The FANUC representative has said that it must be around half a revolution of the motor. However, I am not able to see the motor turning inside robot and i am needing an idea about what is meant by half motor turns in terms of joint angle.
Looking for some good quality answers.
Juan
Dear Juan,
The ratios of gear for each and every axis is stored in the system parameter "$PARAM_GROUP[1].$GEAR_RATIO".
Thank You
Hi Juan,
If you are able to quick master at position i.e. at 0 degrees for the joints, then the lining of the robots visually through witnessing marks that would get you more than close enough for quick master.
If it is not at 0 and no witnesses marks were made for the ref position but you are able to put the robot in a zero position, you can copy the data from "$DMR_GRP[1].$MASTER_COUNT" in to the "$DMR_GRP[1].$REF_COUNT" and then master it at 0 point.
If your reference position is not at zero and you cannot get the robot to zero, then I guess you just hope that the integrator put witness marks on the new position.
In both cases you have to check the elements in "$DMR_GRP[1].$REF_COUNT" have the encoder counting in them and is not 0 value before you are running the quick routine. Now for finding per revolution of motor, and i am not able to think that is necessary. The lowest of all that i have seen has been over a degree as long as you are staying in that window then you should be good.
Good luck
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