Number of joints:

How many joints the robot has that can move.

Extra linkage:

This applies for now only to a 3 axis robot arm where the tool always parrallel stays with the floor

Motor pin

• PUL pin the pin that is connected to the PUL of the stepper driver
•  DIR pin the pin that is connected to the DIR of the stepper driver

Switch pin

Switch pin the pin that is connected to the specific switch of the joint

Tool pin

Tool pin is the pin that is connected to the specific tool. By checking the checkbox you can select if the pins are connected to the robot arm controller (ESP32) or to the IO box

IO pin

IO pin is the pin that is connected to the IO port. By checking the checkbox you can select if the pins are connected to the robot arm controller (ESP32) or to the IO box

Max movement joints

• Max velocity is the maximum speed that a joint can move, this is in deg/s
• Max acceleration is the maximum acceleration that a joint can handle in (deg/s)^2

Homing order

Here is the order set which joint move first to home. MoveTo is the position that the joint moves to after it touches the limit switch.

DH – parameter