Differences

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

--- ntb:hal [2019/11/30 21:05] – created graf
+++ ntb:hal [2020/02/27 18:59] (current) – [Encoders on the Tool Center Point Motor] ursgraf
@@ Line 1: / Line 1: @@
 ====== Hardware Abstraction Layer ======
-EEROS for the Beagle Bone Blue is using the [[https://github.com/StrawsonDesign/librobotcontrol|robotis_cape_library]]. You'll find the wrapper and its functions in the ''bbblue-eeros'' folder. To learn more about the hardware abstraction layer read [[http://wiki.eeros.org/eeros_architecture/hal/start|HAL]]
+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 "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.
-{{ :delta:software:hal-motor.jpg?350 |HAL-Configuration for the motors}}
-=====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 //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.\\
-{{ :delta:software:hal-ieh2.jpg?500 |HAL config for ieh2 encoder}}
-The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π.
 ==== 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 //hem3-256w//, which provides //256 lines per revolution//. The quadrature decoder function, which counts the encoder ticks, delivers 4 counts per line. \\
-{{ :delta:software:hal-hem3.jpg?500 |HAL config for HEM3 encoder}}
+{{ :delta:ntb:software:hal-hem3.jpg?500 |HAL config for HEM3 encoder}}
 The total scale will be calculated by the HAL as (120 * 256 * 4) / 2π.