fimmy
New Member
Posts: 16
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Post by fimmy on Jul 23, 2017 14:39:51 GMT
Hello.
I would like to ask beginner questions for the AMC board. These questions are related for linear actuators only using string potentiometer and servo conditioner board.
1) PID - <P> is this the only setting that is required to be used? <I> & <D> not to be used.
2) USO Data Format should be 8 Bit
3) In the USO Data Format which additional setting do I choose: Ser feedback off, Ser feedback on, Checksum error ON, Checksum printON or Motion data only. At present I have it set to Ser feedback off.
4) Motor Max speed - This does not seem to do anything when Voltage testing on the servo conditioner board.
5) Set Sensor Type is Analog 10bit
6) In the Set Sensor Type which additional setting do I choose: Sensor range 180 or 360 degrees. I have set to 360.
7) Set Output Type is Analog 8 bit.
8) In Set Output Type which additional setting do I choose: SNS BI-DIR, SNS Uni-DIR or Absolute Position. I have it set to 2. SNS UNI-DIR.
9) Feedback sensor - - This does not seem to do anything when Voltage testing on the servo conditioner board using the feedpack 0-5v 10 turn Pot.
10) Sensor direction. Which do I choose from: Pos 1-2-3-4-5-6, (Pos135 Neg246), (Neg135 Pos246) or 4DOF P1-3-Y N2. Currently I have it set to Pos 1-2-3-4-5-6.
11) Start Position I have it set to 49 as this translates to 0V when kill switch is operated.
can someone kindly help or refer me to a manual anywhere if it exists?
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Post by tronicgr on Jul 24, 2017 0:40:42 GMT
Hello. I would like to ask beginner questions for the AMC board. These questions are related for linear actuators only using string potentiometer and servo conditioner board. 1) PID - <P> is this the only setting that is required to be used? <I> & <D> not to be used. 2) USO Data Format should be 8 Bit 3) In the USO Data Format which additional setting do I choose: Ser feedback off, Ser feedback on, Checksum error ON, Checksum printON or Motion data only. At present I have it set to Ser feedback off. 4) Motor Max speed - This does not seem to do anything when Voltage testing on the servo conditioner board. 5) Set Sensor Type is Analog 10bit 6) In the Set Sensor Type which additional setting do I choose: Sensor range 180 or 360 degrees. I have set to 360. 7) Set Output Type is Analog 8 bit. 8) In Set Output Type which additional setting do I choose: SNS BI-DIR, SNS Uni-DIR or Absolute Position. I have it set to 2. SNS UNI-DIR. 9) Feedback sensor - - This does not seem to do anything when Voltage testing on the servo conditioner board using the feedpack 0-5v 10 turn Pot. 10) Sensor direction. Which do I choose from: Pos 1-2-3-4-5-6, (Pos135 Neg246), (Neg135 Pos246) or 4DOF P1-3-Y N2. Currently I have it set to Pos 1-2-3-4-5-6. 11) Start Position I have it set to 49 as this translates to 0V when kill switch is operated. can someone kindly help or refer me to a manual anywhere if it exists? Hi Fahim, I work on the firmware as we speak to get all these additional functions corrected for the servos, like seperate home reference and zero volts reference. Manual is also in the works, much more detailed than the older one. But it needs a stable firmware first. I hope to have this ready soon as part of the kickstarter campaign, as it needs its manual for new users. Thanks Thanos
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johann
Junior Member
Posts: 57
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Post by johann on Dec 18, 2017 9:56:00 GMT
Hi Thanos, I used this tread because I’m also a beginner and you know I started my first 6DOF tests. In this case I’ve a question to the display of the AMC. Is it quite normal when I change for example the PID settings and go back to the start display that the poti values aren’t displayed? After a while you will see one or to values and so on. After more than 5 minutes there is still one value missing. Next one what is the parameter clearpath motor used for? I didn't found anything here. The next it when I change the start position only motor 2,3,4,5 are moving up and down. Motor 1 and 2 are only moving down but not up. I’ve checked the wires between the board and the VFD. It’s ok. It’s also not a problem of the wiring. I’ve also measured the voltage on M1 connector 1 and M2 connector 1 it’s on both 22.5V. For me it seams the board is ok ... Is there a problem of the VFD? Here are a picture of the status. Why are the figures of 1 and 2 not nearly 000? The motor itself run douwn - why not up? Here are the Settings of the VFD's A settings A001 = 01 A002 = 01 A003 =50 A044 = 03 A051 = 01 A054 = 80% A082 = 230/400 B settings B033 = 7 B083 = 15 B090 = 30.0 B095 = 02 B097 = 300 B130 = 01 H settings H001 = 01 H002 = 00 H003 =0.55 H004 = 6 F settings F002 = .10 F003 = .02 What else can be the reason for the problem? Thanks for your help Regards Johann
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Post by tronicgr on Dec 18, 2017 19:30:25 GMT
Hi, The sensor indications on the lcd are getting updated only if there is change i their value. That's why when you return from other options of the menu they might be blank. I'm not sure which firmware you have on the AMC1280USB, some older versions had bugs. Try loading the latest one here: www.dropbox.com/s/ukzaj0qdul5epwp/enc_6dof_AMC1280USB_v2.4_rev3.hex?dl=0(Ignore the 12bit options if you have v1.x board). The clearpath option is for specific servomotors from Teknic, not applicable to vfd inverters. The vfd indications are naturally off as the pid does not return the motor to zero speed correctly, get the firmware upgrade first. Thanks Thanos
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johann
Junior Member
Posts: 57
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Post by johann on Dec 19, 2017 10:53:35 GMT
Hi Thanos, thanks for your answer. Now I download the last version of your firmware. Then I tried to install it like it's shown on this video. www.youtube.com/watch?v=evJzIFqBWksLooks easy but when I do it and open the HEX-file I get an error message. This is the version I use. Is this ok? If not can you please gif me a link for the right one. If it's ok what is wrong ? Thanks Johann
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Post by hexpod on Dec 19, 2017 11:00:25 GMT
Hi Thanos, thanks for your answer. Now I download the last version of your firmware. Then I tried to install it like it's shown on this video. www.youtube.com/watch?v=evJzIFqBWksLooks easy but when I do it and open the HEX-file I get an error message. This is the version I use. Is this ok? If not can you please gif me a link for the right one. If it's ok what is wrong ? Thanks Johann In the AVRUBD go to option avr set the flash size to 256K
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Post by tronicgr on Dec 19, 2017 22:15:36 GMT
Hi Thanos, thanks for your answer. Now I download the last version of your firmware. Then I tried to install it like it's shown on this video. www.youtube.com/watch?v=evJzIFqBWksLooks easy but when I do it and open the HEX-file I get an error message. This is the version I use. Is this ok? If not can you please gif me a link for the right one. If it's ok what is wrong ? Thanks Johann Look here about the setting in the AVRUBD to make it fit in the memory: motionsim.freeforums.net/post/324Thanks Thanos
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johann
Junior Member
Posts: 57
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Post by johann on Dec 21, 2017 10:21:53 GMT
Hi Thanos,
thanks for the response. Now I updated the AMC. The Version is displayed as V2.4. For the first time I can’t set the start position. After the update it is set to 19%. When I try to change it the display shows 50%. That’s the value I used in the old version. After press the button to save this value, it is again 19%. I rebooted the AMC 3 times and now it works. After a while of testing I had the same problem again. I don’t know why but it works when I change the value often enough.
But at the moment motor 1 is not working correct again. I set the start position now to 45% Sensor direction NEG135 POS246 Sensor voltage motor 1 = 3.45V motor 1 does not move but gets quite hot! Sensor voltage motor 2 = 2.27V motor 2 is almost on the right position Sensor voltage motor 3 = 2.8V motor 3 is almost on the right position Sensor voltage motor 4 = 2.16V motor 4 is almost on the right position Sensor voltage motor 5= 2.79V motor 4 is almost on the right position Sensor voltage motor 6 = 2.25V motor 4 is almost on the right position
After this I did some test with the motor itself and it seems the gearbox is damaged. Now I try to repair it. If I can’t do this I’ll order a new on. So that means it’ll take a while and not be done within this year. But you'll get feedback when I can go on with the tests.
Thanks for your help.
I wish you a Merry Christmas and a Happy New Year
Johann
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johann
Junior Member
Posts: 57
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Post by johann on Dec 22, 2017 14:30:49 GMT
Hi Thanos, after some tests I can say motor and gearbox are ok. The problem of motor 1 and 2 is the weight of the actual payload and the parameter of the VFD. Here are the actual motor values of the VFD. The red one are putted in and the blue and black one are standard. For me it isn’t possible to do the autotuning. Space is to less and it’s to dangers. Therefor I ask the motor manufacturer for the right dates. This is what I got back. I miss the H020 and H021 values. Is it possible to calculate it form the other ones? Or do you know which one are correct? If you need something else please let me know. Thanks for help Johann
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Post by hexpod on Dec 23, 2017 21:32:20 GMT
"Now I updated the AMC. The Version is displayed as V2.4. For the first time I can’t set the start position. After the update it is set to 19%. When I try to change it the display shows 50%. That’s the value I used in the old version. After press the button to save this value, it is again 19%. I rebooted the AMC 3 times and now it works. After a while of testing I had the same problem again. I don’t know why but it works when I change the value often enough." I report also strange behaviour with start position and motor max speed. Different values are displayed in the AMC and Fabi's configurator. On x-sim 6-dof plugin launch, all six motors started turning beond the asignated start position. The arms overcome the vertical position and when I used the emergency button, the platform went in a very dangerous position. Definitley needs a small debug. Mery Christmas to all cheers
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Post by riton39 on Dec 23, 2017 21:57:37 GMT
I think we have to stop testing, we do not have the important information. you have to be sure of the wiring for each configuration. after we can say whether or not it works or not. In my case, potentiometer in 10 bits in, and 12 bits out for the drives, clearly it does not work. I searched several days, but without more Thanos answer I stop the tests. I am rather disappointed. Deliver the cards without doc, without much communication, it's not very cool. Mery Christmas to all
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johann
Junior Member
Posts: 57
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Post by johann on Dec 24, 2017 14:34:48 GMT
Hi friends,
at the moment I think, my problem depends more at the VFD side as on the AMC board. I know how difficult it is to develop software. I did it in the past for years. I have ordered my potis (old ones) directly from Thanos. I bought all the stuff (VDF, motor, gearbox and so on) recommended from him. Because I believed there is a lot of experience there. And there are simulators they work almost perfect. In this case it should be easy to get answers to my questions. And at the end also a working 6DOF simulator. The problem is, we have no experience and the pople who have it are not longer activ in this forum I guess.
In this case I hope at the end we’ll also satisfied with our projects. It takes even lot of time.
Marry Christmas to all
Johann
P.S. If some one knows answers please tell us ...
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Post by tronicgr on Dec 24, 2017 16:27:31 GMT
Hi guys,
I have been too busy before Christmas to test properly. I'll run some tests on the issues you mention and get back to you.
Merry Christmas!
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johann
Junior Member
Posts: 57
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Post by johann on Jan 21, 2018 11:51:22 GMT
Hi Thanos and friends,
after almost a month are there some news to my questions? I'd like to go on with my project but I don't know how. Is there somebody who has experience with the WJ200-007SF? Which parameters have I to change and which are the right ones?
Thanks for help Johann
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Post by hexpod on Jan 22, 2018 18:52:51 GMT
Hi Thanos and friends, after almost a month are there some news to my questions? I'd like to go on with my project but I don't know how. Is there somebody who has experience with the WJ200-007SF? Which parameters have I to change and which are the right ones? Thanks for help Johann At your place I would contact this guy: motionsim.freeforums.net/thread/15/6dof-platformcheers
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