Quick Mastering

    When performing a quick master, how close do you need to be to the quick mastered reference position in terms of motor revolutions/joint angle?


    I have read that for a quick master to work you must be within one half motor turn of the marker pulse. So my question is what is a half motor pulse in terms of joint angle degrees?


    I will assume that the witness marks provide enough accuracy to achieve this placement.


    LR Mate 200 ic


    Thanks

    I do believe the robot uses quick master reference values to determine where the robot was quick mastered at related to pulse counts to degrees. I've had my best luck of running the zero program and setting a quick master reference. Then you can quick master or grab your pulse counts from your ref variable in your dmr group and plug them in your master count. Just remember if any encoders were removed you will need to set a new quick master reference due to a new pulse established related to a new pulse count. Hope that helps.



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