Hi there,
I'm new to the ctrlX universe and currently planning an upcoming project.
I have an AMR that can drive in X and Y direction independently. Using EtherCAT Servo drives (Elmo) it is planned to use MOTION APP to set commands. It's important that the robot has no rotation around Z axis, it's really only X and Y direction just like a gantry with 2 main axis. I have 2 sensors that measure the absolute position. The values will be read by an analogue input card.
Can this system be configured with MOTION? What are the command outputs from motion then? I would assume it is absolute position like (2.34m; 5.67m) for both axis. For controlling the servo motors I would need absolute position like rads. How to do this translation (meaning gear ratio, wheel radius etc.).
So in the end we want to move to absolute positions measured by the 2 distance sensors. Are there other ideas for controlling this architecture? Thanks