 |
поискавой системы для электроныых деталей |
|
|
поискавой системы для электроныых деталей |
|
AN2350 датащи(PDF) 37 Page - STMicroelectronics |
|
|
|||||||||||||||||||||||||||||
AN2350 датащи(HTML) 37 Page - STMicroelectronics |
|
|
37 / 41 page  Control algorithm AN2350 37/41 Now the shoulder is controlled in its home position, the same procedure is executed for the elbow, using the Capture unit CC22. The control of the shoulder ensures that during the home procedure for the elbow there's no movement of the shoulder. The scheme below shows the homing procedure. Figure 30. The homing procedure Read Absolute Encoder of the shoulder and enable interrupt CC16 while(!home_position_sh) { Move shoulder with fixed PWM } Stop the shoulder Reset incremental encoder of the shoulder (T2) Enable interrupt for control algorithm, and disable interrupt CC16 sh_pulses_desired Read Absolute Encoder of the elbow and enable interrupt CC22 while(!home_position_elb) { Move elbow with fixed PWM } Stop the elbow Reset incremental encoder of the elbow (T4) Disable interrupt CC22 elb_pulses_desired Read Absolute Encoder for the shoulder This is the right transition? ISR for the shoulder home_position_sh=true; Exit Control Algorithm Read Absolute Encoder for the elbow ISR for the elbow This is the right transition? home_position_elb=true; Exit N Y N Y |
|
ссылки URL |
| Вашему бизинису помогли Аллдатащит? [ DONATE ] |
Что такое Аллдатащит | реклама | контакт | Конфиденциальность | Ссылка на техническое описание | обмен ссыками | поиск по производителю All Rights Reserved©Alldatasheet.com |
| Russian : Alldatasheetru.com | Korean : Alldatasheet.co.kr | Spanish : Alldatasheet.es | French : Alldatasheet.fr | Italian : Alldatasheetit.com Portuguese : Alldatasheetpt.com | Polish : Alldatasheet.pl | Vietnamese : Alldatasheet.vn Indian : Alldatasheet.in | Mexican : Alldatasheet.com.mx | British : Alldatasheet.co.uk | New Zealand : Alldatasheet.co.nz |
|
Family Site : ic2ic.com |
icmetro.com |
Russian ▼
English
Chinese
German
Japanese
Russian
Korean
Spanish
French
Italian
Portuguese
Polish
Vietnamese
Indian
Mexican
British
New Zealand
