getting_started:tutorials:oneaxis
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getting_started:tutorials:oneaxis [2019/04/25 13:38] – [Part 3: Test Application] graf | getting_started:tutorials:oneaxis [2019/10/08 14:48] – [Part 2: Experimental Setup] graf | ||
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Navigate to the directory '' | Navigate to the directory '' | ||
- | =====Part 1: Theoretical Background===== | + | =====Theoretical Background===== |
- | The motors | + | A motor position is measured by an encoder. After differentiating this signal we obtain the velocity. The input of the velocity controller is the difference between reference and measured velocity. Additionally, |
[{{ oneAxis_controlLoop.jpg? | [{{ oneAxis_controlLoop.jpg? | ||
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D is the damping factor and we choose it as 0.9. | D is the damping factor and we choose it as 0.9. | ||
- | The input of the velocity controller is the difference between reference and measured velocity. Additionally, | ||
- | =====Part 2: Experimental Setup===== | + | |
- | As a processing platform we use a regular PC (x86-64) together with a National Instrument card: PCIe - 6251 (M-Series). The card requires the //comedi// library together with the EEROS hardware wrapper, see [[eeros_architecture: | + | =====Experimental Setup===== |
+ | We use three different platforms for running the Simple Motor Controller. | ||
+ | * A regular PC (x86-64) together with a National Instrument card: PCIe - 6251 (M-Series). The card requires the //comedi// library together with the EEROS hardware wrapper, see [[eeros_architecture: | ||
{{ oneAxis_setup.png? | {{ oneAxis_setup.png? | ||
- | As an alternative we use our cb20 controller board ([[http:// | + | * As an alternative we use our cb20 controller board ([[http:// |
For both alternatives a maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties: | For both alternatives a maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties: | ||
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=====Part 3: Test Application===== | =====Part 3: Test Application===== | ||
- | If have have installed and built EEROS as described in [[getting_started: | + | If have have installed and built EEROS as described in [[getting_started: |
You will find two different hardware configuration files. | You will find two different hardware configuration files. | ||
* HalComedi.json | * HalComedi.json |
getting_started/tutorials/oneaxis.txt · Last modified: 2023/04/13 11:29 by ursgraf