Inspection robot - Revision history

Mph: /* Servomotor */

2015-08-11T13:15:38Z

Servomotor

← Older revision		Revision as of 15:15, 11 August 2015
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	==Servomotor==		==Servomotor==

			[[Image:Hs646wp_mod.jpg\|thumb\|HS646WP servomotor with modified data cable]]

	===Hardware===		===Hardware===

Jca: /* rhdconfig.xml */

2015-08-11T12:52:27Z

rhdconfig.xml

← Older revision		Revision as of 14:52, 11 August 2015
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	/>		/>

	Logging of data is ~~enabled /~~ disabled ~~by setting the~~ ''~~enable~~'' ~~field~~ to ~~true/false in the rhdlog tag~~:		Logging of data is disabled when ''interval=0'', set to ''"1"'' for logging at full update rate:

	<rhdlog		<rhdlog
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	lib="rhdlog.so.1"		lib="rhdlog.so.1"
	debug="true"		debug="true"
	interval="1"		interval="0"
	/>		/>

Mph: /* rhdconfig.xml */

2015-08-11T12:07:26Z

rhdconfig.xml

← Older revision		Revision as of 14:07, 11 August 2015
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	/>		/>

	Logging of data is enabled / disabled by setting the ~~field~~ ''enable'' to true/false in the rhdlog tag:		Logging of data is enabled / disabled by setting the ''enable'' field to true/false in the rhdlog tag:

	<rhdlog		<rhdlog

Mph: /* rhdconfig.xml */

2015-08-11T12:06:48Z

rhdconfig.xml

← Older revision		Revision as of 14:06, 11 August 2015
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	r2sScale="1"		r2sScale="1"
	r2sOffset="0"		r2sOffset="0"
			/>

			Logging of data is enabled / disabled by setting the field ''enable'' to true/false in the rhdlog tag:

			<rhdlog
			enable="true"
			lib="rhdlog.so.1"
			debug="true"
			interval="1"
	/>		/>

Mph: /* Operation */

2015-08-11T12:02:18Z

Operation

← Older revision		Revision as of 14:02, 11 August 2015
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	*If the servomotor is powered up while outside of the defined position range (if the position range is narrower than full range), it will automatically move to the ''upper'' position limit. If the servomotor is powered up while being within the position range, it will remain stationary until a reference is given.		*If the servomotor is powered up while outside of the defined position range (if the position range is narrower than full range), it will automatically move to the ''upper'' position limit. If the servomotor is powered up while being within the position range, it will remain stationary until a reference is given.

	*Consider deleting generated logfiles, as they take up space and can prevent the Beaglebone Black from booting, if storage becomes full. Logging can be disabled in ''rhdconfig.xml'' under the ''<rhdlog>'' tag.		*Consider deleting generated logfiles, as they take up space and can prevent the Beaglebone Black from booting, if storage becomes full. Logging can be enabled / disabled in ''rhdconfig.xml'' under the ''<rhdlog>'' tag.

	===Commands===		===Commands===

Mph: /* Operation */

2015-08-11T11:59:18Z

Operation

← Older revision		Revision as of 13:59, 11 August 2015
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	*The full range of the servo motor is approximately 207° ≈ 3.6128 rad.		*The full range of the servo motor is approximately 207° ≈ 3.6128 rad.

	*in ''rhdconfig.xml'', PID gains are set, along with the servomotor I<sup>2</sup>C address, motion range limits, scaling factor, offset and name (the I<sup>2</sup>C address of the servomotor is not set to the value in the 'ID' field, it only specifies which address to communicate with).		*in ''rhdconfig.xml'', PID gains are set, along with the servomotor I<sup>2</sup>C address, motion range limits, scaling factor, offset and name (the I<sup>2</sup>C address of the servomotor is not set to the value in the 'id' field, it only specifies which address to communicate with).

	*A P-gain is needed to make the servo run. A value of about 50 is a good starting point.		*A P-gain is needed to make the servo run. A value of about 50 is a good starting point.
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	*If the servomotor is powered up while outside of the defined position range (if the position range is narrower than full range), it will automatically move to the ''upper'' position limit. If the servomotor is powered up while being within the position range, it will remain stationary until a reference is given.		*If the servomotor is powered up while outside of the defined position range (if the position range is narrower than full range), it will automatically move to the ''upper'' position limit. If the servomotor is powered up while being within the position range, it will remain stationary until a reference is given.

			*Consider deleting generated logfiles, as they take up space and can prevent the Beaglebone Black from booting, if storage becomes full. Logging can be disabled in ''rhdconfig.xml'' under the ''<rhdlog>'' tag.

	===Commands===		===Commands===

Mph: /* rhdconfig.xml */

2015-08-11T10:59:22Z

rhdconfig.xml

← Older revision		Revision as of 12:59, 11 August 2015
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	* ''minpos'' and ''maxpos'' are the position limits in A/D units, and are unaffected by the scaling factor.		* ''minpos'' and ''maxpos'' are the position limits in A/D units, and are unaffected by the scaling factor.
	* ''p'', ''i'', ''d'' are the controller gains.		* ''p'', ''i'', ''d'' are the controller gains.
	* ''scale'' is the scaling factor used for scaling between A/D values and radians or degrees (applies only to the position and reference).		* ''scale'' is the scaling factor used for scaling between A/D values and radians or degrees (applies only to the position and reference). ''See [[Inspection robot#Operation\|Operation]] section.
	*''offset'' is the position offset in A/D units and is unaffected by the scaling factor.		*''offset'' is the position offset in A/D units and is unaffected by the scaling factor.
	* ''name'' is a string where a user friendly name can be set.		* ''name'' is a string where a user friendly name can be set.

Mph: /* rhdconfig.xml */

2015-08-11T10:57:38Z

rhdconfig.xml

← Older revision		Revision as of 12:57, 11 August 2015
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	===== rhdconfig.xml =====		===== rhdconfig.xml =====

	Servomotors are declared using the following syntax:		Servomotors are declared using the following XML syntax:

	<servo id="5" minpos="100" maxpos="900" p="50" i="0" d="0" scale="1.0" offset="0" name="~~name~~"/>		<servo id="5" minpos="100" maxpos="900" p="50" i="0" d="0" scale="1.0" offset="0" name="servo_name"/>

			Where:
			* ''id'' is the I<sup>2</sup>C address of the declared servomotor.
			* ''minpos'' and ''maxpos'' are the position limits in A/D units, and are unaffected by the scaling factor.
			* ''p'', ''i'', ''d'' are the controller gains.
			* ''scale'' is the scaling factor used for scaling between A/D values and radians or degrees (applies only to the position and reference).
			*''offset'' is the position offset in A/D units and is unaffected by the scaling factor.
			* ''name'' is a string where a user friendly name can be set.

	More servomotors can be declared by adding more declarations. Remember to check that the right addresses are specified in the ''id'' field.		More servomotors can be declared by adding more declarations. Remember to check that the right addresses are specified in the ''id'' field.

	Debug mode is ~~enables~~ by writing ''1'' in the debug field of the I<sup>2</sup>C ~~declaration~~:		Debug mode is enabled / disabled by writing ''1/0'' in the ''debug'' field of the I<sup>2</sup>C tag:

	<i2c		<i2c

Mph: /* Mobotware on a Beaglebone Black */

2015-08-11T10:38:14Z

Mobotware on a Beaglebone Black

← Older revision		Revision as of 12:38, 11 August 2015
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	'''NOTE:''' When starting the RHD, controller gains and position limits specified in ''rhdconfig.xml'' are sent to the servomotor and saved to the onboard EEPROM. Thus if the servomotor experiences a power loss, these values will still be set when power returns (because controller gains and position limits are only sent to the servomotor then starting the RHD).		'''NOTE:''' When starting the RHD, controller gains and position limits specified in ''rhdconfig.xml'' are sent to the servomotor and saved to the onboard EEPROM. Thus if the servomotor experiences a power loss, these values will still be set when power returns (because controller gains and position limits are only sent to the servomotor then starting the RHD).

			===== rhdconfig.xml =====

			Servomotors are declared using the following syntax:

			<servo id="5" minpos="100" maxpos="900" p="50" i="0" d="0" scale="1.0" offset="0" name="name"/>

			More servomotors can be declared by adding more declarations. Remember to check that the right addresses are specified in the ''id'' field.

			Debug mode is enables by writing ''1'' in the debug field of the I<sup>2</sup>C declaration:

			<i2c
			dev="/dev/i2c-1"
			debug="1"
			r2sScale="1"
			r2sOffset="0"
			/>

	==Servomotor==		==Servomotor==

Mph: /* Worth Knowing */

2015-08-11T10:31:07Z

Worth Knowing

← Older revision		Revision as of 12:31, 11 August 2015
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	*For using milli-radians as the unit of angle in the RHD, a scaling factor α<sub>pos,mrad</sub> = 3.7909 should be applied as the scaling parameter in ''rhdconfig.xml''. For milli-degrees, use α<sub>pos,mdeg</sub> = 217.2088. Using a scaling factor of unity means using A/D values in the RHD.		*For using milli-radians as the unit of angle in the RHD, a scaling factor α<sub>pos,mrad</sub> = 3.7909 should be applied as the scaling parameter in ''rhdconfig.xml''. For milli-degrees, use α<sub>pos,mdeg</sub> = 217.2088. Using a scaling factor of unity means using A/D values in the RHD.

	*The ''offset'' parameter is used for offsetting the zero position.		*The ''offset'' parameter in ''rhdconfig.xml'' is used for offsetting the zero position.

	*Internal sampling of Back-EMF, voltage, position and current runs at 500 Hz (once per PWM cycle).		*Internal sampling of Back-EMF, voltage, position and current runs at 500 Hz (once per PWM cycle).