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| Both sides previous revision Previous revision | |||
| eros:seedactuators_controltable [2021/07/01 12:59] – SeedR KB Admin | eros:seedactuators_controltable [2024/08/08 13:08] (current) – Removed Direct PWM description Marco Prata | ||
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| Line 354: | Line 354: | ||
| - | **Servo Control Mode** | + | **Servo Control Mode**\\ |
| - | + | ||
| - | NOTE: DIRECT PWM CONTROL MODE IS NOT YET IMPLEMENTED. THIS IS DOCUMENTED AS PART OF OUR ROADMAP AND WILL BE MADE AVAILABLE OVER THE COMING MONTHS.\\ | + | |
| - | At the moment this set to the default of POSTITION CONTROL mode, which is the typical control mode for any servo motor. | + | |
| 0=Position Control Mode\\ | 0=Position Control Mode\\ | ||
| - | 1=Direct PWM Control mode | + | 1=Direct PWM Control mode\\ |
| - | + | NOTE: DIRECT | |
| - | __About Direct PWM Control mode:__ | + | |
| - | By querying Current Drawn by the motor through the control table on the EROS main board, and since Current is directly proprotional to PWM, | + | |
| - | by controlling the PWM on the motor users are able to build a closed loop control cycle for true Force Estimation and Torque Control. | + | |
| - | + | ||
| - | When Direct PWM Control Mode is enabled, the PID position controller is disabled which provides a cleaner signal on the the Current Reading | + | |
| - | and eliminates unknowns such as peaks due to acceleration and not necessarily force. | + | |
| - | + | ||
| - | The Present Position will continue to be reported in real time and the unit will continue to enforce verification of physical bounds to prevent damage due | + | |
| - | to a crash or malfunction in the main controller. | + | |
| - | + | ||
| - | However PWM applied to the motor will be directly controlled by the user, by writing to memory position 92 (Motor | + | |
| **Motor PWM** | **Motor PWM** | ||
| Line 385: | Line 370: | ||
| Knowing the direction of PWM is helpful when building an incremental PID controller based on Current Reading (from the main board control table) and Position. | Knowing the direction of PWM is helpful when building an incremental PID controller based on Current Reading (from the main board control table) and Position. | ||
| Since the current is read as a modus it does not provide any information about direction. That can be retrieved from this memory position. | Since the current is read as a modus it does not provide any information about direction. That can be retrieved from this memory position. | ||
| - | |||
| - | __When memory position 90 is set to Direct PWM Control Mode__, users should write the desired PWM to this memory position.\\ | ||
| - | NOTE: DIRECT PWM CONTROL MODE IS NOT YET IMPLEMENTED. THIS IS DOCUMENTED AS PART OF OUR ROADMAP AND WILL BE MADE AVAILABLE OVER THE COMING MONTHS.\\ | ||
| - | |||
| - | When specifying the desired PWM the 9th bit will indicate the direction of PWM to the applied (CCW/CW) | ||
| The actuator can cope with very high frame rate updates (the typical turn around time for a command is 1.2ms). \\ | The actuator can cope with very high frame rate updates (the typical turn around time for a command is 1.2ms). \\ | ||
| - | If you are operating in this mode we recommend updating this value every 4-5ms. | ||
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