hal
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revision | Next revisionBoth sides next revision | ||
hal [2019/11/30 21:15] – [Encoders on the Tool Center Point Motor] graf | hal [2019/11/30 21:15] – [Encoders on the Axis Motors] graf | ||
---|---|---|---|
Line 8: | Line 8: | ||
=====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.\\ |
hal.txt · Last modified: 2021/06/11 15:59 by ursgraf