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eros:seedactuators_controltable [2018/02/06 16:00] – Pedro Ramilo | eros:seedactuators_controltable [2021/07/01 12:59] (current) – SeedR KB Admin | ||
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===== Control Table for the Seed Robotics Smart Actuators ===== | ===== Control Table for the Seed Robotics Smart Actuators ===== | ||
- | |||
- | **DISAMBIGUATION**: | ||
- | If you are using an **RH2D unit**, it uses Actuators from Robotis, in particular the XL320 Actuator, which has a slightly different control table and capabilities. See [[rh2d: | ||
- | |||
- | For all other Seed Robotics units, please continue reading. | ||
- | |||
- | -- | ||
The Seed Robotics smart actuators run Seed Robotics own firmware that is developed in parallel and, as part, of the EROS architecture. | The Seed Robotics smart actuators run Seed Robotics own firmware that is developed in parallel and, as part, of the EROS architecture. | ||
- | At present, the micro28, micro57, mini67 and micro44 | + | At present, the Seed56, Seed58, Seed67 |
The control table below applies to all of them. As part of the EROS initiative commitment, we wish that all our hardware is exposed and controlled by the user under one single command and control architecture. | The control table below applies to all of them. As part of the EROS initiative commitment, we wish that all our hardware is exposed and controlled by the user under one single command and control architecture. | ||
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| 20 (0x14) | BYTE (1) | Emulate 12 bit resolution | RW |Default=1, | | 20 (0x14) | BYTE (1) | Emulate 12 bit resolution | RW |Default=1, | ||
| 21 (0x15) | WORD (2) | Zero Offset | RW |Default=2048 (if in 12 bit mode)/512 (if in 10bit mode) | EEPROM | | | 21 (0x15) | WORD (2) | Zero Offset | RW |Default=2048 (if in 12 bit mode)/512 (if in 10bit mode) | EEPROM | | ||
- | | 23 (0x17) | BYTE (1) | PID, Zero_Offset and Resolution Tuning | + | | 23 (0x17) | BYTE (1) | PID, Zero_Offset and Resolution Tuning |
| 24 (0x18) | BYTE (1) | Torque Enable | RW |Default=0 (torque disabled, H bridge in Dynamic brake mode) | RAM | | | 24 (0x18) | BYTE (1) | Torque Enable | RW |Default=0 (torque disabled, H bridge in Dynamic brake mode) | RAM | | ||
| 26 (0x11) | BYTE (1) | D Gain (Position Controller) | R(RW) |D Gain for the Position Controlller | RAM (initial value read from EEPROM) | | | 26 (0x11) | BYTE (1) | D Gain (Position Controller) | R(RW) |D Gain for the Position Controlller | RAM (initial value read from EEPROM) | | ||
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By oversampling, | By oversampling, | ||
- | By default this is configured to 1 (12 bit emulation enabled). | + | By default, this is configured to 1 (12 bit emulation enabled). |
If your library or framework works in 10 bit resolution, you may set the unit to 10bit resolution by writing a " | If your library or framework works in 10 bit resolution, you may set the unit to 10bit resolution by writing a " | ||
The new resolution configuration becomes effective immediately after changing this parameter. | The new resolution configuration becomes effective immediately after changing this parameter. | ||
+ | |||
+ | **IMPORTANT**\\ | ||
+ | If you need to change this setting you must first set memory position '' | ||
**Zero offset** | **Zero offset** | ||
- | This setting was introduced with Actuator firmware version 27. It is not available in earlier versions.\\ | ||
This setting lets the user re-tune the 0 (or center position) for each joint. | This setting lets the user re-tune the 0 (or center position) for each joint. | ||
This is useful for: | This is useful for: | ||
* joints with double actuation such as Wirst Flexion, Adduction where the settling of tendor fibers may produce minor deviations from the center position | * joints with double actuation such as Wirst Flexion, Adduction where the settling of tendor fibers may produce minor deviations from the center position | ||
- | * Under actuated | + | * Under actuated |
The default value is 2048 (if in 12bit mode) or 512 (if on 10bit). These numbers correspond to 0. | The default value is 2048 (if in 12bit mode) or 512 (if on 10bit). These numbers correspond to 0. | ||
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There is a limit to how much this number can be adjusted. Once the offset reaches the extreme limits of the position sensor, increasing or decreasing it no longer produces any effect. | There is a limit to how much this number can be adjusted. Once the offset reaches the extreme limits of the position sensor, increasing or decreasing it no longer produces any effect. | ||
- | IMPORTANT: do not set this to 0, as it would correspond to an adjustment of -2048/-512 (depending on the resolution of operation). Remember, the default zero position is a setting of 2048/512 (depending on the resolution of operation). | + | **IMPORTANT |
+ | |||
+ | **IMPORTANT (2)**\\ | ||
+ | If you need to change this setting you must first set memory position '' | ||
+ | This setting was introduced with Actuator firmware version 27. It is not available in earlier versions. | ||
**PID, Zero_Offset & Resolution Tuning Lock** | **PID, Zero_Offset & Resolution Tuning Lock** | ||
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We generally DON'T recommend tweaking these values as PID tuning is an advanced topic. | We generally DON'T recommend tweaking these values as PID tuning is an advanced topic. | ||
- | By default the units come tuned for the fastest output response at maximum torque.\\ | + | By default, the units come tuned for the fastest output response at maximum torque.\\ |
If you wish to attempt tuning a more elastic behavior you may want to try reducing the P and increasing the I. | If you wish to attempt tuning a more elastic behavior you may want to try reducing the P and increasing the I. | ||
Changes to the P,I,D gains are stored in RAM only. They will be reset to factory default after a power cycle. | Changes to the P,I,D gains are stored in RAM only. They will be reset to factory default after a power cycle. | ||
- | **IMPORTANT:** some joints are mounted with physical mechanical limits. Misconfiguration of the PID gains may result in uncontrolled motion and possible collision with the mechanical limits and consequent damage to the unit.\\ | + | **IMPORTANT |
If you are unsure or require assistance for PID tuning, please contact our support team for guidance (support@seedrobotics.com). | If you are unsure or require assistance for PID tuning, please contact our support team for guidance (support@seedrobotics.com). | ||
+ | |||
+ | **IMPORTANT (2)**\\ | ||
+ | If you need to change this setting you must first set memory position '' | ||
**Target Position** | **Target Position** |
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