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AN2350 데이터시트(PDF) 39 Page - STMicroelectronics

부품명 AN2350
상세설명  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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제조업체  STMICROELECTRONICS [STMicroelectronics]
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AN2350 데이터시트(HTML) 39 Page - STMicroelectronics

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Control algorithm
AN2350
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Figure 31.
The teach and repeat procedure
Teach Procedure
Repeat Procedure
Execute homing procedure
Stop the control
Stop the motors (PWM=50%)
Reset timer T0
Enable interrupt CC8
index=0;
Start timer T0
while index<1500
Disable interrupt CC8
Stop timer T0
ISR for teach
Reload of Compare unit
CC8
Read Incremental
Encoder for the shoulder
(T2)
Store T2 in
shoulder array teach[]
Read Incremental
Encoder for the elbow
(T4)
Store T4 in
elbow-array-teach[]
index++
Execute homing procedure
Reset Timer T0
Enable interrupts CC2 and CC3
Start timer T0
elbow_array_teach[]
shoulder_array_teach[]
Control
Algorithm



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