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Way to do quick mastering

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Chang Thriving

Hi experts,

I have a question that while performing quick mastering, how close does one need to be near to quick mastered position taken for reference when the revolutions or joint angle of motors are considered.

I have been reading the quick mastering and its working but it says that it is done within one half turns of the motor pulse.

Here, my question is that what is the one half pulse of motor. Is it in terms of degrees or joint angles?

I will assume that the witness marks provide enough accuracy to achieve this placement.

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    Dimitry Vasilkov
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    Chang Thriving

    Hello find below picture . 

     

     

    So basically half of pulse width will affect 90 Degree of motor shaft. Eventually that will go at the joint through gear  and system and all mechanical connection. So at the end it will be really small value. 

    Yes , Witness mark is good for quick mastering procedure .

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    Sarwat Anjum
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    You are at the right place for your query. Robots use quick master reference values for determining the position of the robot where it was quick mastered related to pulse counts to degrees. initially Run the zero program and setting quick mastering Reference. After setting the quick mastering reference you can start quick mastering from your reference variable, grab the pulse counts in your DMR Group and plug the variables in the master count. Pay attention if any encoders were removed it will be required to set a new quick mastering reference because of pulse establish related to new pulse count.

    I hope it helps!

     

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