Driver / ESCON drive

Driver for the maxon ESCON motor controller. More...

Functions
void	esc_Init (void)
	Intializes the driver. Initializes the driver, and set the motor torque to zero. More...
void	esc_SetTorque (float32_t torque)
	Sets the motor torque. More...

Detailed Description

Driver for the maxon ESCON motor controller.

This driver controls the torque of a motor driven by a maxon ESCON controller. The ESCON and the HRI board should be connected as follow:

• ESCON AnIN1+ to HRI board ANOUT1.
• ESCON AnIN1- to HRI board GND.
• ESCON AnIN1- to ESCON GND. This driver uses the DAC1 peripheral.

First, call dac_Init() to initialize the DAC. Then, in the initialization code, call esc_Init() once. Finally, esc_SetTorque() can be called to set the motor torque.

Note

The constants are set for a maxon EC-max 30mm 24V, so they should be changed if another motor is used instead.

Function Documentation

void esc_Init

(

void

)

Intializes the driver. Initializes the driver, and set the motor torque to zero.

void esc_SetTorque

(

float32_t

torque

)

Sets the motor torque.

Parameters

torque

the torque to set [N.m]. If larger than the nominal torque, it will be saturated to the nominal torque.