Motoman pulses to degree conversion factor

[dipendras]

I have a Motoman MH6 robot. I am able to view the angles of each axis in degrees as well as in pulses. Why are sign of angles in degrees and pulses not same for all axes?

Is there a place where I can retrieve the scaling factor from the controller/teach pendant for angle to pulse conversion and/or vice versa?

[ted-miller]

Hello @dipendras

The sign of the angle depends on the orientation of how the motor is mounted on the arm.

Here is the angle to pulse conversion for the MH6:

degrees/pulse:
S: 0.0006967
L: -0.00077
U: 0.000726
R: -0.00176
B: 0.001214
T: -0.00235

[dipendras]

Thank you for your response @ted-miller . Is there a way I can find these values from the teach pendant/controller or from any reference documents? Or .PRM files retrieved from the controller?

[ted-miller]

No, these values are not displayed on the pendant or published in any documentation.

You could calculate the values using position variables on the pendant. For instance, put the robot at the home position. Then use a P variable to jog the robot 10000 pulses on each axis. Then look at the angle position.