eeros_architecture:hal:scaling_multi
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eeros_architecture:hal:scaling_multi [2017/07/05 09:30] – [Two Inputs or Outputs with Different Scales] graf | eeros_architecture:hal:scaling_multi [2019/02/24 14:30] – [Input for Axis Position] graf | ||
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====== Setting Multiple Scales and Ranges ====== | ====== Setting Multiple Scales and Ranges ====== | ||
- | The existing hardware is often comprised of several stages | + | The existing hardware is often comprised of several stages. The HAL can account for this in the following way. |
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+ | ===== Output to Control a Motor ===== | ||
+ | The control of EEROS sets the torque for a motor. This signal passes | ||
[{{ : | [{{ : | ||
- | In such cases it is very handy to describe each stage individually as given in the following example | + | |
+ | The HAL mirrors the multiple stages. Each stage can be described individually as given in the following example. | ||
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+ | The HAL will calculate the scale and range of the whole chain considering the single stages. The range of the whole chain will be determined by the most restricting range of the single stages. The unit is determined by the unit of the last stage. | ||
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+ | ===== Input for Axis Position ===== | ||
+ | The control of EEROS sets the torque for a motor. This signal passes a digital | ||
+ | [{{ : | ||
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+ | The HAL mirrors the multiple stages. Each stage can be described | ||
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} | } | ||
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- | The HAL will calculate the scale and range of the whole chain considering the single | + | The HAL will calculate the scale and range of the whole chain considering the single |
===== Two Inputs or Outputs with Different Scales ===== | ===== Two Inputs or Outputs with Different Scales ===== |
eeros_architecture/hal/scaling_multi.txt · Last modified: 2021/05/20 07:37 by ursgraf