====== Differences ====== This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
specifications:frame_of_reference [2015/08/29 07:52] guvalif |
specifications:frame_of_reference [2021/04/01 13:51] (current) |
||
---|---|---|---|
Line 3: | Line 3: | ||
=================================== | =================================== | ||
- | サーボモータに関して、基準座標は次のように定義する。 | + | ## Basic Definitions |
- | - 歯車のついている側面に対する法線ベクトルを、y座標に関する正の向きと定める。 | + | Reference coordinates for servo motors is defined below. |
- | - 前述のベクトルに対して、右ねじの向きを回転の正の向きと定める。 | + | |
- | PWM角度制御が可能なサーボモータに対して、角度を次のように定義する。 | + | - A normal vector which extends from the side of adding a gear, is defined as a negative vector of y axis. |
+ | - Rotation direction for a positive vector of y axis, is subject to the right-hand rule. | ||
- | - 最小幅PWM入力時における位置と、最大幅PWM入力時における位置の差から、5%を間引きした値を可動範囲と定める。 | + | An angle of a servo that is controllable by PWM, is defined below. |
- | - 可動範囲の中点を0°と定める。 | + | |
+ | - Range of movement is defined as differences between an angle when input min PWM and an angle when input max PWM. | ||
+ | - The neutral angle of range of movement, is defined as 0 [deg]. | ||
+ | |||
+ | |||
+ | ## Specifications Each PLEN's Servos Have | ||
+ | |||
+ | - **PLEN1.4** | ||
+ | Rotate clockwise by increasing PWM width. | ||
+ | - **PLEN2** | ||
+ | Rotate counter clockwise by increasing PWM width. | ||
</ | </ |