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<< Click to Display Table of Contents >> Power output |
  
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<< Click to Display Table of Contents >> Power output |
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This function block assigns set point values to Robotino's power output (former Motor 4). The power output can only be used if the sub-program doesn't use the gripper.
The output is instantiated by a H-bridge, which can deliver up to 5A continuous current.
The H-bridge is driven by a high frequency PWM signal and one bit for direction.
The sign of the set point given by the input corresponds to the direction bit.
The absolute value of the set point influences the PWM signal.
A set point of 0 does not generate any PWM signal, i.e. no current is delivered by the H-bridge.
A set point of 50 leads to a high-low-ratio of the PWM signal of 50%.
A set point of 100 generates a constant high, i.e. the H-Bridge delivers maximum current.
Inputs |
Type |
Unit |
Default |
Description |
Set-point |
int |
0 |
Sets direction bit and PWM signal. Range -100 to 100. Values less -100 are interpreted as -100. Values greater 100 are interpreted as 100. |
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Outputs |
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Current |
float |
A |
The current delivered by the H-bridge. |
The current delivered by the power output is limited by default.
To change or disable this limitation edit /etc/robotino/robotino.xml on Robotino.
The new values are assigned after 2 seconds.