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 [2021/05/20 07:37] (current) – [Output to Control a Motor] ursgraf | ||
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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 | ||
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- | 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 | ||
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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 |
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+ | ==== Inverting the Signal ==== | ||
+ | If the output signal needs opposite sign, e.g. a motor turns in the wrong direction, you can simply add an inverting stage | ||
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+ | ===== Input for Axis Position ===== | ||
+ | The angular position of an axis is controlled by a motor equipped with a gear and an encoder, see | ||
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+ | Here again, the HAL mirrors the three 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 has no limit. | ||
===== 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