Differences
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Both sides previous revision Previous revision Next revision | Previous revision | ||
eros:whatsnewvsares [2017/11/14 18:12] – Pedro Ramilo | eros:whatsnewvsares [2017/11/14 18:19] (current) – [What is new] Pedro Ramilo | ||
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In these scenarios, trapezoidal motion interpolation must be done by the framework, because the servos don't have time to act in a trapezoidal motion if they' | In these scenarios, trapezoidal motion interpolation must be done by the framework, because the servos don't have time to act in a trapezoidal motion if they' | ||
- | **PID tuning** | + | **User PID tuning** |
- | The PID parameters for the servos can now be tuned individually | + | The PID parameters for the servos can now be individually |
- | The topic of PID tuning is an advanced one and we recommend that only advanced users attempt it. You should refer to the Control table of the actuators for information on PID tuning as these values are normally protected from change while in operation. | + | The topic of PID tuning is an advanced one and we recommend that only advanced users attempt it. You should refer to the Control table of the actuators for information on PID tuning as these values are normally protected from change while in operation. |
**Operating Noise and Heat dissipation** | **Operating Noise and Heat dissipation** | ||
+ | |||
The whining noise that the actuators sometimes produced in the previous architecture is now much reduced. Oscillations are also much reduced which means control is now more precise and the overall feel is much improved.\\ | The whining noise that the actuators sometimes produced in the previous architecture is now much reduced. Oscillations are also much reduced which means control is now more precise and the overall feel is much improved.\\ | ||
Additionally energy loss through heat dissipation in the switching mechanism (at the motor MOSFETs) | Additionally energy loss through heat dissipation in the switching mechanism (at the motor MOSFETs) | ||
- | In addition, a cooling fan is present on most models to further improve thermal behavior. The Fan speed multiplier can be adjusted by the user to for reduced sound impact | + | In addition, a cooling fan is present on most models to further improve thermal behavior. The Fan speed multiplier can be adjusted by the user depending on the application goals, ranging from reduced sound impact |
**Position Sensor accuracy (position feedback)** | **Position Sensor accuracy (position feedback)** | ||
- | Accuracy on the position feedback sensor for each joint has been greatly | + | Accuracy on the position feedback sensor for each joint has been improved when operating in 12 bit resolution. |
==== Upgrading from ARES to EROS ==== | ==== Upgrading from ARES to EROS ==== |
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