hal
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hal [2019/11/30 21:15] – [Configure the Encoder Inputs] graf | hal [2019/11/30 21:15] – [Encoders on the Axis Motors] graf | ||
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=====Configure the Encoder Inputs ===== | =====Configure the Encoder Inputs ===== | ||
The Delta roboter has two different motors with different encoders and gears. You'll find the datasheets of the two types in [[components|]]. | The Delta roboter has two different motors with different encoders and gears. You'll find the datasheets of the two types in [[components|]]. | ||
- | ==== Encoders on the Axis Motors ==== | ||
The axis motors are equipped with a gear with the ratio of //76:1// and with an encoder // | The axis motors are equipped with a gear with the ratio of //76:1// and with an encoder // | ||
To account for this in the configuration file of the HAL, we add three blocks. These blocks mirror the physical behavior of the decoder, encoder, and gear.\\ | To account for this in the configuration file of the HAL, we add three blocks. These blocks mirror the physical behavior of the decoder, encoder, and gear.\\ | ||
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The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π. | The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π. | ||
- | ==== Encoders on the Tool Center Point Motor ==== | ||
- | The TCP motor are equipped with a gear with the ratio of //120:1// and with an encoder // | ||
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- | The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π. | ||
hal.txt · Last modified: 2021/06/11 15:59 by ursgraf