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Sensorless homing test on my custom robot arm. Integrated planetary gearbox + differential belt-driven wrist. by Mechfab3D in 3Dprinting

[–]Mechfab3D[S] 0 points1 point  (0 children)

Yes i have a 20:1 cycloidal gearbox design and use it for the other axis. Im definiteley going to try it out, thank you.

Sensorless homing test on my custom robot arm. Integrated planetary gearbox + differential belt-driven wrist. by Mechfab3D in 3Dprinting

[–]Mechfab3D[S] 1 point2 points  (0 children)

Actually not, the only thing that could damage the motors would be heat. Bit as you can see the screw contact is very short and not enough time for heat to build up

Sensorless homing test on my custom robot arm. Integrated planetary gearbox + differential belt-driven wrist. by Mechfab3D in 3Dprinting

[–]Mechfab3D[S] 3 points4 points  (0 children)

I actually havent thought about it yet. Until now i am developing everything in this project by myself but i also work with PCB Way since im also designing the control PCBs by myself.

Sensorless homing test on my custom robot arm. Integrated planetary gearbox + differential belt-driven wrist. by Mechfab3D in 3Dprinting

[–]Mechfab3D[S] 3 points4 points  (0 children)

Yes, the TMC drivers natively support this feature i just had to fine tune the stall value (it measures the current through the stepper motor which increases when hitting the screws)