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Post by hexpod on Sept 15, 2015 22:03:00 GMT
Its not final version yet but looks stable to me so far: www.dropbox.com/s/2xql4dmh9iguk2b/enc_6dof_AMC1280USB_v21c.hex?dl=0It adds a selectable ramp increase in speed while switching between on-line and offline mode. You can change the delay of the ramp in a new sub menu under the Max Motor speed menu. The delay is in ms 0-10ms, with 0ms disables the ramp completely. The ms delay is from the cycle that lasts usually 1ms, so it will delay the normal run cycle by the amount you add to the ramp, but don't worry, it lasts only during the ramp, not all the time. This beta version is not fully tested yet, but any feedback on its behavior is welcome. Thanks Thanos in my case, while deep switch no. 4 down, motor no 1 is spinning fast beyond the sensor range. careful
cheers.
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Post by tronicgr on Sept 16, 2015 21:03:17 GMT
Its not final version yet but looks stable to me so far: www.dropbox.com/s/2xql4dmh9iguk2b/enc_6dof_AMC1280USB_v21c.hex?dl=0It adds a selectable ramp increase in speed while switching between on-line and offline mode. You can change the delay of the ramp in a new sub menu under the Max Motor speed menu. The delay is in ms 0-10ms, with 0ms disables the ramp completely. The ms delay is from the cycle that lasts usually 1ms, so it will delay the normal run cycle by the amount you add to the ramp, but don't worry, it lasts only during the ramp, not all the time. This beta version is not fully tested yet, but any feedback on its behavior is welcome. Thanks Thanos in my case, while deep switch no. 4 down, motor no 1 is spinning fast beyond the sensor range. careful
cheers.
Hi Ignacy, I think that problem in your case has to do with the type of servomotors you have and their initialization (enable PIN). I didn't see it here with simple pwm DC motors I'm using on my miniature model... I'll check the ENABLE PIN when I have the chance
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Post by hexpod on Sept 16, 2015 21:12:04 GMT
in my case, while deep switch no. 4 down, motor no 1 is spinning fast beyond the sensor range. careful
cheers.
Hi Ignacy, I think that problem in your case has to do with the type of servomotors you have and their initialization (enable PIN). I didn't see it here with simple pwm DC motors I'm using on my miniature model... I'll check the ENABLE PIN when I have the chance Hi Thanks for checking this. Here is how the amc is wired.
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Post by tronicgr on Sept 17, 2015 15:01:05 GMT
Ok, I reproduced the issue (random kicks while switching from KLM switch). Its not enable PIN related. To notice it I had to increase the ramp delay to 10ms. I assume the ramp function is getting confused by the other similar function that parks the motors in home position if the KLM switch is active, as in this state the motors are not online but not offline either. I run out of time for the moment. I'll get back to debugging it in about a week when I settle down and unpack my instruments at my new lab. Thanks Thanos
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Post by tronicgr on Oct 20, 2015 13:50:32 GMT
Hi all, Just a quick update on the latest firmware fix. I finally added indication on the LCD screen to inform the user when the controller receives data (motors are online), that also disables the LCD update increasing this way the stability of the PID during run. Please give it a try and let me know if you notice any bugs as always, feedback is very welcome! Here is a video of it in action. youtube.com/watch?v=TO670X46seEThe link to the firmware v2.1b is here: www.dropbox.com/s/nim74iomxvpwnr2/enc_6dof_AMC1280USB_v21b.hex?dl=0Thanks Thanos
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Post by hexpod on May 19, 2016 10:53:53 GMT
"Can you remind me the things to be fixed on the amc1280usb firmware? I'll be coding a few functions on the firmware so I might as well fix those too now.
Thanks Thanos "
1.) when start position heave offset is applied in BFF software .ini file (; The midpositions of the actuators in 0-255 position feedback range PitchStart=157) The servos are going down while reaching their upper positions.
This nasty behavior can be avoided by limiting the "position feedback scale". While the midpositions of the actuators offset is set to 157, the "position feedback scale" has to be reduced to 200. Being forced to reduce the actuator working stroke length, does not make much sense.
It seems that If you raise the pitch start position whilst keeping the same stroke length then it is possible that the upper end of movement will exceed the 255 working range. It is possible something unusual is happening data bytes are becoming erratic when this happens...
2.) x-sim compatibility with kill swich on.
Unable to start x-sim while kill swich is on
3.) Isuue with KLM Swich mode: Kills signals. Some servo are moving Present with Teknic motors setup
Thanks
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