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ntb:hal [2020/02/27 18:53]
ursgraf [Encoders on the Tool Center Point Motor]
ntb:hal [2020/02/27 18:59] (current)
ursgraf [Encoders on the Tool Center Point Motor]
Line 8: Line 8:
 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. \\  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:delta_ntb:​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. 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