AR2_7AxisSP100Ac70Dc70.MOV Hi Jann, addition this how 7th axis it looks/sounds/work with Speed100 Acceleration 70 Deceleartion 70 hope it helps for your decision

Hi Jann, the cable chain is purchased, some IGUS 045.20.028.0  (48pc = 624mm) and 0450.20.12PZ  (Connection element set), the motor and driver are as Chris suggested in his guide ( STEPPERONLINE Schrittmotor Nema 17 Stepper Motor 59Ncm 2A 1.8deg 2 Phase and driver DM320T) - i choose the open loop as for the moment i use the robot for learning and testing - on my cnc i use closed loop which saved me much more money than it costs (and also on my 3d printer i switched to closed loop-MKS SERVO42C kit). To be honest i didn't tested the limits of the 7th axis by now - let me check... 😉

AR4_CV2_Testpick.MOV Hi Jann, here just a video snippet from my current progress with testing/looping of object detection, picking and random placing, enjoy

And this could be an idea of placing a pick and place order through a separate file (OrderEntry) while the main program (OrderMain) just loops and keeps untouched. And the order processing could be in (OrderProcess) - just tested on my machine/robot so overall it might work but not knowing if this is what you are searching -)

Hi Timo, not sure how flexible your requirement has to be.... may be an idea (i know it has it's limitations-)): 1. On your main program start you call, e.g. Call Program – set_position_registers.ar4, where you can set the use case specific register and positions registers - outside of your main program 2. In the main program you are using e.g. OFF J, OFF PR commands, which allows you to work "relative" to the initializing vectors (from set_position_registers.ar4)

i guess it is the price tag of using motors with brakes and also absolute position encoders on robots in this price segment 😀. Another idea could be that you connect the emergency stop (on AR4 with the separate box for the electronics it was connected to the ENA(-) Pin of the stepper motor drivers which causes a stop category 0) on pin39 on the teensy board. This pin is used as EstopPin with INPUT_PULLUP mode and if set to ground, the stepper signal generation is "paused" (i would say similiar to a stop category 2).

Hi, as i was running into the same symptom yesterday (J6 reading values 1000-1001 or 1000-999) the root cause was an ethernet cable with a loose contact (brand new cable just ordered it for this project - first time in my life i had such an issue). Not really probably but easy to double-check -).