hal
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
hal [2019/02/28 16:33] – [Encoders on the TCP Motor] graf | hal [2021/06/11 15:59] (current) – [Hardware Abstraction Layer] ursgraf | ||
---|---|---|---|
Line 1: | Line 1: | ||
- | ===== HAL ===== | + | ====== Hardware Abstraction Layer ====== |
- | EEROS for the Beagle Bone Blue is using the [[https:// | + | EEROS for the Beaglebone blue is using the [[https:// |
===== 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 | + | If you want to run a motor with EEROS you need to define a //Peripheral Output// with the respective |
{{ : | {{ : | ||
=====Configure the Encoder Inputs ===== | =====Configure the Encoder Inputs ===== | ||
- | The Delta roboter | + | The Delta roboter |
- | ==== 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.\\ | ||
Line 15: | Line 14: | ||
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 TCP Motor ==== | ||
- | The TCP motor are equipped with a gear with the ratio of //120:1// and with an encoder // | ||
- | |||
- | {{ : | ||
- | |||
- | So one turn on the gear axis results in // 256*4*120 = 122880 // counts.\\ | ||
- | \\ {{ : | ||
- | The TCP rotation is also limited. The maximum turn angle is calculated as follows:\\ | ||
- | \\ | ||
- | //sin(γ/2) = r/R//\\ | ||
- | // | ||
- | \\ | ||
- | Thats the value for one side. The other side is identical, so the maximum angle to turn is\\ | ||
- | \\ | ||
- | // | ||
hal.1551368013.txt.gz · Last modified: 2019/02/28 16:33 by graf