Add documentation on how to integrate transmission parameters into the CIA402 generic driver #117
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tpoignonec
previously approved these changes
Apr 24, 2024
| System configuration | ||
| -------------------- | ||
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| The system is composed of a motor coupled to a transmission line (a gearbox and a transmission screw) which rotation is measured by an encoder. |
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"whose" or "the rotatation of which"
| Transmission configuration | ||
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ | ||
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| The transmission is composed of a motor, a gearbox and a transmission screw (lead screw with ball bearing for zero friction) with the following characteristics: |
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| The transmission is composed of a motor, a gearbox and a transmission screw (lead screw with ball bearing for zero friction) with the following characteristics: | ||
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| - gearbox with gear ratio, reduction absolute: 57/13 (:math:`r \triangleq \frac{13}{57}`) |
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"reduction absolute value" or "absolute reduction"
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| Linear displacement per count of the encoder | ||
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | ||
| The motor has a reductor so each turn of the motor does not correspond to a turn of the system. |
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"revolution" instead of "turn"
| The motor has a reductor so each turn of the motor does not correspond to a turn of the system. | ||
| It is necessary to first compute the rotation of the shaft at the output of the gearbox. | ||
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| * reduction absolute is :math:`r \triangleq \frac{13}{57}` |
ethercat_driver_ros2/sphinx/user_guide/config_use_case_motor_with_gear_box.rst
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… value) spotted by tpoignonec.
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