eros:seedactuators_controltable

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eros:seedactuators_controltable [2018/02/06 16:00] Pedro Ramiloeros: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:xl320_controltable|here the corresponding Control table]]. 
- 
-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 micro28micro57mini67 and micro44 actuator models are used in different Seed Robotics models.+At present, the Seed56Seed58Seed67 actuator models are used in different Seed Robotics models. and
  
 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, set to 12bit mode | EEPROM | | 20 (0x14) | BYTE (1) | Emulate 12 bit resolution | RW |Default=1, set to 12bit mode | EEPROM |
 | 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 Loc | RW |Default=1, protects memory positions for PID configuration from inadvertent modification. | RAM |+| 23 (0x17) | BYTE (1) | PID, Zero_Offset and Resolution Tuning Lock | RW |Default=1, protects memory positions for PID configuration from inadvertent modification. | RAM |
 | 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, the actuators can emulate and operate in 12bit resolution mode for compatibility with a variety of frameworks. By oversampling, the actuators can emulate and operate in 12bit resolution mode for compatibility with a variety of frameworks.
  
-By default this is configured to 1 (12 bit emulation enabled).+By defaultthis 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 "0" to this memory position.\\ If your library or framework works in 10 bit resolution, you may set the unit to 10bit resolution by writing a "0" to this memory position.\\
 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 ''23''/''0x17'' (//PID, Zero_Offset and Resolution Tuning Lock//) to 0. Without doing this, any attempt to change this setting will fail.
  
 **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 jonts (i.e. closing of fingers) where settling of the tendon fibers causes the finger to start moving only after a set position (and not within the first 10~20units). Previously this required physically readjusting the tendon. Using this option this can now be tuned on the fly.+  * Under actuated joints (i.e. closing of fingers) where settling of the tendon fibers causes the finger to start moving only after a set position (and not within the first 10~20units). Previously this required physically readjusting the tendon. Using this option this can now be tuned on the fly.
  
 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 (1)**: 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 (2)**\\ 
 +If you need to change this setting you must first set memory position ''23''/''0x17'' (//PID, Zero_Offset and Resolution Tuning Lock//) to 0. Without doing this, any attempt to change this setting will fail.\\ 
 +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 defaultthe 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 (1)** 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.\\
 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 ''23''/''0x17'' (//PID, Zero_Offset and Resolution Tuning Lock//) to 0. Without doing this, any attempt to change this setting will fail.
  
 **Target Position** **Target Position**

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  • eros/seedactuators_controltable.1517932838.txt.gz
  • Last modified: 2018/02/06 16:00
  • by Pedro Ramilo