Differences

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--- eeros_architecture:hal:scaling_multi [2019/02/24 14:03] – [Analog Output to Control a Motor] graf
+++ eeros_architecture:hal:scaling_multi [2021/05/20 07:37] (current) – [Output to Control a Motor] ursgraf
@@ Line 35: / Line 35: @@
 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.
-===== Input for Axis Position =====
+==== Inverting the Signal ====
-The control of EEROS sets the torque for a motor. This signal passes a digital to analog converter and an amplifier. The amplifier delivers a current which is trabsformed by the motor constant into a torque.
+If the output signal needs opposite sign, e.g. a motor turns in the wrong direction, you can simply add an inverting stage
-[{{ :eeros_architecture:hal:hal_outputscalinghardware.png?700 |//Example of output with multiple stages// }}]
-The HAL mirrors the multiple stages. Each stage can be described individually as given in the following example.
 <code>
   "channel0": {
@@ Line 47: / Line 43: @@
                  "minIn":    1000, "maxIn":  64000,
                  "minOut": -9.787, "maxOut": 9.923 },
-               { "id" : "amp",
+               { "id" : "inv",
-                 "minIn":   -10.0, "maxIn":  10.0,
+                 "minIn":   -1.0, "maxIn":  1.0,
-                 "minOut":  -7.0, "maxOut": 7.0 },
+                 "minOut":  1.0, "maxOut": -1.0 } ],
-               { "id" : "kM",
-                 "minIn":   -5.0, "maxIn":  5.0,
-                 "minOut":  -1.0, "maxOut": 1.0 } ],
     "range": [ { "id" : "dac",
                  "minIn":       0, "maxIn":  65536,
@@ Line 58: / Line 51: @@
                  { "id" : "amp",
                  "minIn":   -10.0, "maxIn":  10.0,
-                 "minOut":  -7.0, "maxOut": 7.0 },
+                 "minOut":  10.0, "maxOut": -10.0 } ],
-                 { "id" : "kM",
+    "unit": "V"
-                 "minIn":   -5.0, "maxIn":  5.0,
+  }
-                 "minOut":  -1.0, "maxOut": 1.0 } ],
+</code>
-    "unit": "Nm"
+===== Input for Axis Position =====
+The angular position of an axis is controlled by a motor equipped with a gear and an encoder, see
+[{{ :eeros_architecture:hal:hal_inputscalinghardware.png?700 |//Example of input with multiple stages// }}]
+Here again, the HAL mirrors the three stages. Each stage can be described individually as given in the following example.
+<code>
+  "channel1": {
+    "signalId": "enc1",
+    "scale": [ { "id" : "gear",
+                 "minIn":  0, "maxIn":  1,
+                 "minOut": 0, "maxOut": 76 },
+               { "id" : "enc",
+                 "minIn":  0, "maxIn":  2π,
+                 "minOut": 0, "maxOut": 4096 },
+               { "id" : "fqd",
+                 "minIn":  0, "maxIn":  1,
+                 "minOut": 0, "maxOut": 4 } ],
+    "range": [ { "id" : "gear",
+                 "noLimit": true },
+               { "id" : "enc",
+                 "noLimit": true },
+               { "id" : "fqd",
+                 "noLimit": true } ],
+    "unit": "rad"
   }
 </code>
-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.
+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 =====