Post by tronicgr on Dec 8, 2014 5:09:21 GMT
These servomotors can be used in velocity mode like the AC motors are with their VFD, but they need to be driven with PWM and direction. You will still need to add external position sensor on the output shaft of the gearbox for position feedback to the AMC1280USB.
To start with these motors follow these steps.
Use the wiring described in this connection here:
www.dropbox.com/sh/ejp77w6z15wmprl/AABe88mvk4pLthVy21Y5XV5da?dl=0
In the file "clearpath - AMC1280USB example wiring.jpg"
Then, don't forget to update the firmware to the latest one.
motionsim.freeforums.net/thread/69/firmware-2
From the experiments I performed so far on my clearpath motor, you need to keep the acceleration RPM rate much more than the max RPM speed of the motor. I set the max rpm to 800, and acceleration to 3000. When I was using smaller acceleration it would accelerate and decelerate slowly and overshooting position.
Also set the input sampling rate to 20ms for InputA and 1ms for InputB in the Clearpath motor Config Utility.
On the AMC1280USB parameters on its LCD menu:
Set PID as 15, 0, 0 (larger P can be used as well if you motor does not overshoot).
Set min motor speed to 6
Set Max motor speed for Online to 50
Set Max motor speed for Offline to 25
Set the Oversample to 1
I placed some photos of the motor and the connections I did here:
www.dropbox.com/sh/53z3gyfx0iu1wh9/AACIvWGbIhBMvsCRp_xYJSwna?dl=0
-------------------------------------------------------------------------------------------------------------------------------------
Here is some example model with planetary gearbox to match it:
CPM-MCVC-3421S-RLN $299 each
www.teknic.com/model-info/CPM-MCVC-3421S-RLN/
GR34 Gearboxes Ratio 30:1 $395 each base on 6 Items
Please find the link on www.motiontek.ca/pdf/GR-3410H.pdf
Seiman Najib
Global Motion Technology Inc
T (416) 731-8187
F (647) 317-1183
Email sales@motiontek.ca
www.motiontek.ca
With 1:30 reduction, and 1400rpm in full speed of the motors, you will have 43rpm output
All six motors will be powered by two 10amp power supplies than can be found in the teknic site.
This solution is already being used, check the video:
These servomotors have integrated motor driver able of 75volts, so no need for sabertooth or other hbridges to drive them! Connect them directly to the Amc1280usb with PWM mode.
Thanks
Thanos
To start with these motors follow these steps.
Use the wiring described in this connection here:
www.dropbox.com/sh/ejp77w6z15wmprl/AABe88mvk4pLthVy21Y5XV5da?dl=0
In the file "clearpath - AMC1280USB example wiring.jpg"
Then, don't forget to update the firmware to the latest one.
motionsim.freeforums.net/thread/69/firmware-2
From the experiments I performed so far on my clearpath motor, you need to keep the acceleration RPM rate much more than the max RPM speed of the motor. I set the max rpm to 800, and acceleration to 3000. When I was using smaller acceleration it would accelerate and decelerate slowly and overshooting position.
Also set the input sampling rate to 20ms for InputA and 1ms for InputB in the Clearpath motor Config Utility.
On the AMC1280USB parameters on its LCD menu:
Set PID as 15, 0, 0 (larger P can be used as well if you motor does not overshoot).
Set min motor speed to 6
Set Max motor speed for Online to 50
Set Max motor speed for Offline to 25
Set the Oversample to 1
I placed some photos of the motor and the connections I did here:
www.dropbox.com/sh/53z3gyfx0iu1wh9/AACIvWGbIhBMvsCRp_xYJSwna?dl=0
-------------------------------------------------------------------------------------------------------------------------------------
Here is some example model with planetary gearbox to match it:
CPM-MCVC-3421S-RLN $299 each
www.teknic.com/model-info/CPM-MCVC-3421S-RLN/
GR34 Gearboxes Ratio 30:1 $395 each base on 6 Items
Please find the link on www.motiontek.ca/pdf/GR-3410H.pdf
Seiman Najib
Global Motion Technology Inc
T (416) 731-8187
F (647) 317-1183
Email sales@motiontek.ca
www.motiontek.ca
With 1:30 reduction, and 1400rpm in full speed of the motors, you will have 43rpm output
All six motors will be powered by two 10amp power supplies than can be found in the teknic site.
This solution is already being used, check the video:
These servomotors have integrated motor driver able of 75volts, so no need for sabertooth or other hbridges to drive them! Connect them directly to the Amc1280usb with PWM mode.
Thanks
Thanos