Category: Driver Boards
How does scale come into play for velocity mode servos? I see multiple different Scale callouts between the .ini and the Hal files.
From JT's configurator tool, in the .ini there are these values which I currently have defined as:
Scale for drives = 10
Analog Scale Max = 10
Analog Min Limit = -10
Analog Max Limit = 10
Encoder Scale = -634.92 (this one I understand, although might need a double check on the value. Calculated based on 500 ppr with .7875" in per rev of servo)
In the main.hal file, I only see this line referencing SCALE, which I assume to be the scale for drives listed above.
setp hm2_7i97T.0.pwmgen.00.scale [JOINT_0] SCALE
I also have seen Output Scale referenced in other posts, is this the same as Analog Scale Max?
I set the PWM frequency to 75000 and enabled dither.
Thanks for the help
