Differences

This shows you the differences between two versions of the page.

--- hal [2019/11/30 21:15] – [Encoders on the Axis Motors] graf
+++ hal [2019/11/30 21:16] – [Configure the Encoder Inputs] graf
@@ Line 7: / Line 7: @@
 =====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 three motors with encoders and gears. You'll find the datasheets in [[components|]].
 The axis motors are equipped with a gear with the ratio of //76:1// and with an encoder //ieh2-4096//, which provides //4096 lines per revolution//. The quadrature decoder function, which counts the encoder ticks, delivers 4 counts per line. \\
 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.\\