Cobot
Hi everyone.
Is it possible in the AR4 software to make the “Teach New Position” button send a position request to the Teensy — but based on the encoder readings?
I mean that the program would convert the encoder feedback into coordinates as new points, without any physical motion commanded by the controller.
I’m building a robot with a “touch” (freedrive) function. I already have a secondary program that switches the servos into torque mode and assists manual joint movement with anti-gravity, just like in cobots. The servos output quadrature A/B encoder signals.
It seems to me that the AR4 program only checks the position from the encoder and compares it with the programmed value.
Hello, The higher ratio planetary gear boxes and leadscrew drive for J5 don't lend themselves to being back driven by hand, the robot does need to be jogged to position before teaching. There are also many position offset capabilities as well and program text editing options to help build robot motion programs. This functionality is very similar to most industrial robots on the market today.