Units for Command functions (position, velocity, effort)

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abdulaleey
Posts: 15
Joined: Wed Aug 26, 2020 2:52 am

Units for Command functions (position, velocity, effort)

Post by abdulaleey » Thu Sep 09, 2021 4:52 am

The HEBI documentation shows "rad" or "m" as units for position command and "rad/s" or "m/s" for velocity command. The units "m" and "m/s" are confusing me as X series actuators are limited to angular position and angular velocity.
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florian_enner
HEBI Official
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Joined: Wed Mar 25, 2020 11:31 am
Location: Austria

Re: Units for Command functions (position, velocity, effort)

Post by florian_enner » Thu Sep 09, 2021 6:00 am

The APIs also support linear stages, so we decided to make the units agnostic. However, you are not the first one to be confused by this, and we are actively thinking about changing the units to rad, rad/s, Nm, and potentially changing "effort" to "torque".
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