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AR4 MK3 J4 calibration flipped?

While calibrating the AR4 MK3 I found out that it got stuck on the 4th joint, to my mind the joint rotates the wrong way during calibration. (See video) Because of this if you don't pay attention the cables get stuck.

J4 does turn the right way during manual use in the program so the polarity of the stepper is correct.

Is this normal behavior and should I do my cable routing better or is there a value to be changed in the code?

Thanks in advance,

Daan Sijnja

2 comments

Comments (2)

Chris Annin

Are the cables being pinched or causing the joint to jam or lock up? It does look like the J6 cables should be a bit further to the right and tied to the J5 limit switch cable.

Daan Sijnja

Replying to

Thanks for the reply, I can try doing that but I don't know if that wil fix the issue because it will still hit the belt used for rotating J4 (See Image below)?

I think that the calibration direction needs to be flipped for this to work? Thanks in advance, Daan Sijnja

ANNIN ROBOTICS

AR4 MK3 J4 calibration flipped?