ntb:hal
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
ntb:hal [2020/02/20 11:56] – [Hardware Abstraction Layer] ursgraf | ntb:hal [2020/02/27 18:59] (current) – [Encoders on the Tool Center Point Motor] ursgraf | ||
---|---|---|---|
Line 3: | Line 3: | ||
- | =====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 // | ||
- | {{ : | + | {{ :delta:ntb: |
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.1582196200.txt.gz · Last modified: 2020/02/20 11:56 by ursgraf