Hi Johannes,
How are you?
I have a question related to the robot's wrist.
As you probably know, A5 and A6 rotate undesirably when you move A4.
The encoder position of A5 and A6 remains unchanged but the real position is different because of the belt and gear transmissions. The same phenomenon exists for A6 if you only make A5 move.
Do you perhaps know the angular rotation of A5 and A6 when A4 is rotated 360° and angular rotation of A6 when A5 is rotated 360°?
The robot is a KR200/1A and the wrist of the robot is ZH200-2 (0319)
Thanks in advance!!
Best regards,
Dimko
How are you?
I have a question related to the robot's wrist.
As you probably know, A5 and A6 rotate undesirably when you move A4.
The encoder position of A5 and A6 remains unchanged but the real position is different because of the belt and gear transmissions. The same phenomenon exists for A6 if you only make A5 move.
Do you perhaps know the angular rotation of A5 and A6 when A4 is rotated 360° and angular rotation of A6 when A5 is rotated 360°?
The robot is a KR200/1A and the wrist of the robot is ZH200-2 (0319)
Thanks in advance!!
Best regards,
Dimko