ntb:hal
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ntb:hal [2019/11/30 21:05] – created graf | ntb:hal [2020/02/27 18:53] – [Encoders on the Tool Center Point Motor] ursgraf | ||
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====== Hardware Abstraction Layer ====== | ====== Hardware Abstraction Layer ====== | ||
- | EEROS for the Beagle Bone Blue is using the [[https:// | + | The HAL is the same as [[:hal|]] with an additional motor and encoder for the TCP. |
- | ===== 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 " | ||
- | {{ : | ||
- | =====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 [[hardware|]]. | ||
- | ==== Encoders on the Axis Motors ==== | ||
- | 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.\\ | ||
- | {{ : | ||
- | The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π. | ||
==== Encoders on the Tool Center Point Motor ==== | ==== 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 // | The TCP motor are equipped with a gear with the ratio of //120:1// and with an encoder // | ||
- | {{ : | + | {{ : |
The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π. | The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π. | ||
ntb/hal.txt · Last modified: 2020/02/27 18:59 by ursgraf