Michel Schneiderman @michelschneiderman· a year ago· 604 viewsin General Discussion

How are joints steps limit calculated?

I’m building my AR2 and I’m using a different gear ratio with joint 4 motor (1/51), instead of (1/19) , how can I adapt the software to get a correct joint jogging

thanks

Comment 2

Chris Annin

August 3, 2025

I have some info in this video

you will need to change the step lim value on the calibration tab to be the actual number of steps that it takes to jog J4 from -165 to +165.

riani.akram

August 3, 2025

Thank you for your replay

I did change the Ang limit value and it works fine for the position jogging but the spee and acceleration still very slow because of the large gear ratio (1/50)

2 replies