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| hal [2019/11/30 21:15] – [Encoders on the Axis Motors] graf | hal [2020/02/20 11:52] – [Configure the Outputs for the Motors] ursgraf |
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| ===== Configure the Outputs for the Motors ===== | ===== Configure the Outputs for the Motors ===== |
| If you want to run a motor with EEROS you need to define a //Peripheral Output// with the respective ''signalId'' used in the HAL configuration file. As you can see in the configuration file //HwConfigBBBlue.json// the ''subdevice2'' comprises the analog outputs for the 4 motors. In the EEROS application for the Delta roboter you can set a motor voltage of -8.0V to 8.0V. The HAL gets this values and wraps it to match the values of the robotics_cape_library which then runs the motors with the desired voltage. | If you want to run a motor with EEROS you need to define a //Peripheral Output// with the respective ''signalId'' used in the HAL configuration file. As you can see in the configuration file //HwConfigBBBlue.json// the ''subdevice2'' comprises the analog outputs for the motors. In the EEROS application for the Delta roboter you can set a motor voltage of -8.0V to 8.0V. The HAL gets this values and wraps it to match the values of the robotics_cape_library which then runs the motors with the desired voltage. |
| {{ :delta:software:hal-motor.jpg?350 |HAL-Configuration for the motors}} | {{ :delta:software:hal-motor.jpg?350 |HAL-Configuration for the motors}} |
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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 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. \\ | 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.\\ | 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.\\ |
