Trademark Acknowledgments: Legal Notice: - K
Contents
1. A REGISTER SUMMARY Set PointSource HW_Options SW_Options 0x28 0x2B Selection of mode 0 7 0 Idle Mode 1 Normal Control Mode 2 Stop Motor 3 Sleep Mode 4 Reset Mode 5 Save configuration parameters page 0 in E2PROM 6 Search Limit Mode 7 Unused Source of SetPoint 0 7 0 External 12C 1 External Analogic not implemented 2 Internal Square Wave Generator 3 Internal Triangle Generator 4 Internal Sinus Generator not implemented 5 Not used 6 Not used 7 Not used Hardware options Flags Bit0 Define Startup Mode 0 Idle Mode 1 Normal Control Mode Bit1 Analog SetPoint Input 0 disabled 1 enabled Bit2 LED 0 disabled 1 enabled Bit3 Encoder resolution 0 100 1 25 Bit4 Torque Inversion Bit5 Driver Option 1 Bit6 Driver Option 2 Bit7 Driver Option 3 Software options Flags Bit0 Seperate D 0 disabled 1 enabled Bit1 Antireset Windup 0 disabled 1 enabled Bit2 SoftStop MIN 0 disabled 1 enabled Bit3 SoftStop MAX O disabled 1 enabled Bit4 Error on SoftStop 0 disabled 1 enabled Bit5 Stop Motor when blocked 0 disabled 1 enabled Bit6 Current Control by Software 0 disabled 1 enabled Bit7 Direction invertion 0 disabled 1 enabled KoreMotor manual ver 2 0 23 ControlTyp 0x2C Type of PID Control 0 7 0 Open Loop 1 Position control with no speed Profile 2 Position control with Trapezoal Speed Profile 3 Spee2. Standalone serial connection GND Figure 2 6 Standalone 5V electronics supply 2 2 3 Koala Connections The Koala must be connected to the KoreMotor using the red KNet con nector see section 2 1 A cable should be provided with the KoreMotor to be connected with the Koala K Bus connector please refer to the Koala user manual for more details The electronics supply is provided from the Koala the motors supply can be connected to an external source or to the Koala 12V outputs Dip switches should be set to the Classical KNet mode the Koala does not support the KNet 2 0 protocol 2 2 4 Standalone I2C Connections 1 I2C SDA 4 Serial Tx 2 I2C SCL 11 Gnd 3 Serial Rx 12 Gnd a 9 7 5 EL lesa Figure 2 7 KoreMotor serial connector and I2C connections The KoreMotor can be connected to an external I2C bus and controlled as a set of standard I2C devices see section 2 1 1 for details Three sig nals SDA SCL and GND are necessary to connect the I2C bus they are displayed on figure 7 with the relevant connections on the serial connector The electronics supply must be provided separately and the dip switches should be set to standalone I2C mode 2 2 5 Motors Supply Connector The main power connector will supply all the motors the voltage should match the motor requirements and stay within the accepted voltage range for the H Bridges The connector pinout is detailed on figure 2 8 Voltage ra
3. be set separately for each regulation type D Unused E Get controller status Command E mot Answer e OxStatusFlags Ox ErrorFlags Effect Return the status and error flags for the given controller Refer to section 3 2 for flags definition Both returned values are 8bit integer F Unused G Unused KoreMotor manual ver 2 0 26 H Set Source for the Regulation Target Point Command H mot RegulationType Source Period Amplitude Offset Answer h Effect Set a new target point source for the given controller The default source is to use external commands from the trans lator This command will start regulation according to the new source other relevant parameters should be set fisrt I Unused J Set Speed Profile Command J mot MaxSpeed 16 Acceleration Answer j Effect Set the speed profile for regulation type 2 which is position control using a trapezoidal speed profile K Unused L Set System Limits Command L mot RegulationType ValueMin 32 ValueMax 32 Answer l Effect Set software limits for position speed or current The af fected limit is determined from the given regulation type 1 or 2 affect position 3 or 4 affect speed and 5 affects cur rent Warning to set the current limit only the 16 least significant bits of the ValueMin are used These 16 bits are interpreted as an unsigned integer M Get Measurement Command M mot RegulationType Answer m Measure Effect Get sp
4. hw _opt2 Not Implemented bit7 hw_opt3 Not Implemented 3 4 Measurements Each controller can return the motor incremental position the motor cur rent speed and the current through the motor Each measurement can be retrieved reading the corresponding registers the most significant bits for each value should always be read first to ensure data consistency 3 4 1 Position The returned motor position is an accumulated counter of encoder pulses The physical position can be calculated knowing a reference position and the K Team S A 15 pulse per turn value for the encoder The position registers can be writen to set the current position to a given value at any time 3 4 2 Speed The speed value is a division of a constant value by the time between encoder pulsations In default mode pulsation x2 and postcaler 1 4 a measure is made every two pulsations The constant value is define by the maximum time multiplied by 256 OxFFFF 256 16 776 960 This operation allows a better pid calculation for the lower speed 16 776 960 Motor Speed _____ a Timerb5value To convert into a real time use the following calculation Timer dvalue fose 4 Tmr5Prescaler Where fose 20MHz and Tmr5Prescaler 8 default Time 3 4 3 Current The measured current Torque registers is proportional with the maximum supported current The default maximum current is 2 Amps and it is rep resented by a 512 measured curre
5. Documentation Author Frederic Lambercy for K Team S A Rue Galilee 9 1400 Yverdon les Bains Switzerland email info k team com Url www k team com TRADEMARK ACKNOWLEDGMENTS IBM PC International Business Machine Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabView National Instruments Corp MatLab MathWorks Corp Webots Cyberbotics Khepera K Team and LAMI LEGAL NOTICE e The content of this manual is subject to change without notice e All effort have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team S A e The above notwithstanding K Team can assume no responsibility for any error in this manual K Team S A 1 TABLE OF CONTENTS 1 Introductio 4 5 2L Overview lt i e sea moeni a a a E a eai 5 a a 6 2 1 2 ontrollers I2 Adde nie ph vee EEEE E T 7 2 1 Motor Connection Pinout T a Bios pee pd 8 i 8 8 10 10 10 11 11 11 12 12 13 14 14 14 15 15 16 16 egu Gosek oe aes Se E ae oe ae EE 16 ontroller Speed Profild 17 ai a 18 8 oto ocked Tes oia co a a 19 3 8 1 Mechanical Limit Detection 19 a a o 20 4 Serial Communication Protoco 21 4 1 Generic User Synmtad a a a a a a 21 4 2 Kan DA ea a a a e e Roe ate ae ae a 22 KoreMotor manual ver 2 0 2 A Register Summary B_ Ser
6. On the other hand if the sampling period is too long the controller might not be quick enough to regulate the system as its reaction time might become too long Setting a correct sampling period is critical to ensure proper motor con trol The Sampling period should be set using the SampleTimeH register 0x45 The internal timer provide a 1 65 resolution for the sampling time so that the sampling period can be calculated as SamplingPeriod SampleTimeH 256 x 1 6us The SampleTimeL register 0x44 can be used for finer tuning of the Sam pling period down to a 1 6us resolution but period under 1300s are very unlikely to be acceptable K Team S A 20 A SERIAL COMMUNICATION PROTOCOL 4 1 Generic User Syntax The KoreMotor supports various high level serial commands to control the board from a host Personnal Computer The serial command syntax is similar to the Khepera syntax with some enhancements Each command is a letter eventually followed by numerical arguments Arguments format is either 8bit default 8bit hexadecimal or 32bit inte ger The format for each argument is given in the command description ie value format but is 8bit by default A prefix must be added to an argument with a specific format as described in the following table 32bit integer l 16bit integer d 8bit hexadecimal Ox Some user command syntax examples Set options 0 0 0x24 0x02 Set target point P 0 1 1 100 Set Position A 1 120 Configur
7. bit Bias of the Torque Measurement e T e K Team S A 24 KdSpeedL KdSpeedH KiSpeedL KiSpeedH SampleTimeL SampleTimeH BlockedTime Time to wait before the motor is considered blocked T BlockedTime 256 h IntGenPeriod 0x47 Period of internal function generator epee Es T IntGenPeriod 256 h 0 255 Amplitude of internal function generator 0 255 Offset of internal function generator 127 127 SoftStopNin SoftStopMax Acceleration Acceleration for trapezoidal speed profile 0 255 StaticFriction Friction of the system 0 255 SWCurrentLimitL Software current limit 16 bit SWCurrentLimitH used for blocked detection and software current limit MinSampleTimeL 0x58 TorqueL Ox5A Always first read the TorqueHH register MinSpeedL 0x5E Near Target Margin KpPos KdPos KiPos KpToraue Ka Torque KiTorque eased K Team S A 25 B SERIAL COMMANDS SUMMARY A Set Position Command A mot position 32 Answer a Effect Set the position counter for the given controller B Read Software Version Command B Answer b TranslatorVersion Controller Version Effect Give the software version for the translator firmware and the motor controller firmware C Configure PID controller Command C mot RegulationType Kp 16 Kd 16 Ki 16 Answer Cc Effect Configure the PID controller for the given regulation set the proportional Kp integral Ki and derivative Kd gain These parameters must
8. d control with no speed profile 4 Speed control with Trapezoal acceleration Profile 5 Torque control 6 Zero Friction control not implemented 7 Not implemented ErrorFlags 0x2D Flags indicating an error read only Sample time to small Watchdog timer overflow Brown out SoftStop happened only if SoftStop enabled Motor blocked only if Motor stop while blocked enabled Position out of range Overflow 0 No 1 Yes Speed out of range Overflow 0 No 1 Yes Torque out of range Overflow 0 No 1 Yes StatusFlags 0x2E Flags indicating the status of the controller read only Movement detected 0 No 1 Yes Direction of movement 0 negative 1 positive On SetPoint 0 No 1 Yes Near SetPoint 5units 0 No 1 Yes Saturation of Driver Command 0 No 1 Yes Antireset Windup active Integrator Owerflow 0 No 1 Yes Current Control active 0 N0 1 Yes SoftStop active 0 No 1 Yes SetPointLL 0x2F 32bit target point SetPointLH Target point is only updated when the LL value is writen SetPointHL SetPointHH PositionLL PositionLH PositionHL Always first read the PositionHH register PositionHH These 4 variables contain a copy of the 32bit position SpeedLL Always first read the SpeedHH register SpeedLH SpeedHL SpeedHH 0x3B These 4 variables contain a copy of the 32bit Speed TorqueL Ox5A Always first read the TorqueHH register TorqueBiasL 0x3C These 2 variables contain the 16
9. e PID C 2 1 d300 d0 d120 4 1 1 User Syntax Configuration Example Configuration of a motor controller number mot from the serial line W mot 0x28 0 Set mode W mot 0x33 0 Set filter order W mot 0x45 6 Set sample time W mot 0x60 10 Set error margin W mot 0x2D 0 Reset all error flags W mot 0x46 10 Set default blocked time L mot 5 150 10 Set current limit L mot 1 1 10000 110000 Set position limit O mot 0 62 Set options C mot 3 d1500 d0 d300 Configure speed PID C mot 1 d70 d50 d10 Configure position PID J mot d10 1 Set speed profile S mot Save Config KoreMotor manual ver 2 0 21 N mot 2 13 R mot 0x4A R mot 0x4B R mot 0x4C R mot 0x4D R mot 0x4E R mot 0x4F R mot 0x50 R mot Ox51 Search for limits Read Read Read Read Read Read Read Read 4 2 Regulation Type min min min min max max max max position position position position position position position position byte byte byte byte byte byte byte byte WNrFRFOWNEH O The motor controller supports five different type of regulation see sec tion 3 5 serial commands set the affected regulation using a number ac cording to the following table A command requiring a regulation type must use one of these reference number Open loop control Speed PID control PwWNES K Team S A Position PID control Position control with a trapezoidal speed profile Speed with trapezoidal accelaration profile 22
10. eed position or current measurement from the given motor The returned value is a 32bit integer and the mea surement is determined from the given regulation type 1 or 2 give position 3 or 4 give speed and 5 give current K Team S A 27 N Search System Mechanical Limits Command N mot BlockedTime Speed 32 Answer n Effect Use the given speed to initiate limits detection cycle The limit detection is based on the current limit set with L and the given time Refer to section 3 8 for a detailled descrip tion of the detection cycle O Set Controller Options Command O mot HardwareOption SofwareOption Answer O Effect Set options for the given controller refer to section B 3 for a detailled description of available options P Set New Target Point Command P mot RegulationType TargetPoint 32 Answer p Effect Start the regulation to the new target point The regulation type determine if the setpoint is a speed position or current target All other parameters relevant for regulation should be set first Q Unused R Read 12C Register Command R mot Address Answer r Ox Data Effect Read a register from the given controller The returned value is the 8bit content of the register and the Address should be a valid 8 bit address either decimal or hexadecimal Refer to section A for register descriptions S Save Controller Configuration Command S mot Answer S Effect Store all registers va
11. hange until the next reset I2C Standalone That mode is used to control the board from an 12C bus The I2C bus is directly connected to the motor controllers and the I2C addresses for each controller are detailled in section2 1 2 The translator is not used in this mode The KoreMotor can be connecter to any 12C master as a standalone 12C device for instance a KoreBot can be configured as an I2C master for the KoreMotor Koala KNet The Koala KNet mode is the classical KNet protocol im plemented on the Koala robot and the Khepera robot This mode is mainly designed to connect a KoreMotor as a Koala extension refer to the Koala user manual for details about the KNet protocol RS232 User Interface 115200 User serial commands see section L I can be send to the KoreMotor serial interface with this mode The serial line settings should be 115200 bps no parity 8 data bits and 2 stop bits y Dip switch settings 0 12C standalone mode C E TT ti 1 standard SPI mode C Lt 2 KNet mode 3 RS232 115200bps mode Figure 2 2 Dip switch settings K Team S A 6 2 1 2 Controllers 12C Addresses E 12C Adress range 1 12C Adress range 2 Figure 2 3 KoreMotor 12C address range The last dip switch as displayed on figure B 3 is used to choose the 120 address range for the motor controllers T he address range is usefull to stack two KoreMotor together using the same 12C bus Range 1 Range 2 Moto
12. ial Commands Summary K Team S A 23 26 1 INTRODUCTION The KoreMotor controler board can be used as a KoreBot extension or as a standalone module that is able to control four DC motors It provides an open loop interface or PID algorithm control with several complementary features such as current limitation software position limits and internal commands generator The KoreMotor can receive commands from a serial RS232 link an I2C bus or a KNet connection from a Koala or a KoreBot KoreMotor manual ver 2 0 4 2 KOREMOTOR HARDWARE 2 1 Overview The KoreMotor hardware provides four motor controllers each one including a H Bridge microcontroler and motor connector The fifth microcontroler manage the board communications dispatching orders to the controllers it is refered as the translator Different settings and connections are required depending on the KoreMotor usage Dip switches control the board running modes and the communication interface will set the required connections Figures 2 1 and 2 2 describe the board main components Motor 3 Motor 2 Serial Connector Motors Supply Connector KNet Connector Melisa l Motor 0 Figure 2 1 KoreMotor hardware overview KoreMotor manual ver 2 0 5 2 1 1 Dip Switch Settings The running mode for the KoreMotor is set with the dip swicth position at startup The settings are described on figure 2 2 If the switch position is modified at run time the mode will not c
13. ical limit detection is based on the motor blocked test that should be configured properly before switching to this mode The routine will use the current SetPoint value as the target speed to perform the test that is why the SetPoint register should be adjusted as well K Team S A 19 Once all relevant registers are set switching to mode 6 will start the detection routine The routine will search for mechanical limits in both directions If no limit is reached in one direction or another the test will fail and the routine will run continuously driving the motor at the given SetPoint speed until the controller mode is manually changed Resulting 32bits positions for mechanical limits are stored in SoftStop Min 0x4A 0x4D and SoftStopMax 0x4E 0x51 The controller will switch back to idle mode when the test is completed 3 9 Sampling Period The controller sampling period is the time between two output calculations That means the PWM ratio to control the motor is only updated once every sampling period A shorter sampling period may result in a more accurate control but requires a better encoder resolution If the encoder resolution is too bad the controller might not count any pulse during a sampling period thus assuming no movement even if the motor is rotating Moreover if the sampling period is too small error 0 may occur indicating that the microcontoller is too slow to complete all the PID calculations in a single period
14. k to idle mode when the test is completed KoreMotor manual ver 2 0 12 3 2 Controller Status Registers Two registers detail the motor controller status Bit will be set by the con troller in the Error register 0x2D to signal problems Generic information about the controller are given in the Status register 0x2E Some errors from error 0 to 4 are blocking errors that means the con troller will stop until the error are not cleared The error will be cleared only if the error condition has been resolved and after the Error register is cleared from the application that means writing 0x0 to the error register If a blocking error is triggered because of a physical condition such as a blocked motor the condition itself should be resolved before clearing the error register Error register bit0 Sample time too small The defined sample time is too small for a complete calculation cycle bitl Watchdog timer overflow Refer to the PIC16F876 datasheet bit2 Brown out Refer to the PIC16F876 datasheet bit3 Software stoped motor The motor position is off limits and the sw_stop_error option is enabled bit4 Motor blocked The motor blocked condition is met see section B 8 and the sw_blocked_stop option is enabled bit5 Position out of range Not implemented bit6 Speed out of range Not implemented bit 7 Torque out of range Not implemented Status register bitO Movement detected Motor speed is not null bitl Directio
15. lue to EEPROM for the given controller These saved values are not erased when the card is switched off and are automatically restored at startup K Team S A 28 T Unused U Unused V Unused W Write to I2C Register Command W mot Address Data Answer w Effect Write a value to the given register The address should be a valid 8bit decimal or hexadecimal address and the value a 8 bit integer X Unused Y Unused Z Unused K Team S A 29
16. n Movement direction O negative 1 positive bit2 On setpoint The regulated value match the Set Point value bit3 Near setpoint The regulated value is inside the tar get zone bit4 Command saturated The PWM ratio has reached 100 bit5 Antireset windup active Set if the command is saturated and if sw_windup is enabled bit6 Current control active bit7 Softstop active The position is off limits and the corresponding option is enabled section B 2 2 K Team S A 13 3 2 1 Target Zone The near setpoint flag is set whenever the regulated value is such as SetPoint RegulatedV alue lt NearTargetMargin That means the NearTargetMargin register defines a zone around the target point which can be useful for specific applications 3 2 2 SoftStop Limits The Controller can be configured to setup virtual position limits for move ments This feature is very useful to protect mechanical devices powered by the KoreMotor As soon as the position is under SoftStopMin 0x4A 0x4D or over SoftStopMax 0x4E 0x51 the controller will shutdown the motor driver to prevent any further movement regardless of the target setpoint and controller mode The SoftStopMax limit is only active if the sw_stopmax option is en abled and the SoftStopMin limit is only active if the sw_stopmin option is enabled Any combination of these two options is valid and they should be set according to each specific application requirements 3 3 Controlle
17. n register 0x52 and current speed the speed is gradually increased or deacreased until on SetPoint Current Control The motor current is regulated to the SetPoint value As current is a 10 bit measurement no current beyond 29 can be regulated The current coefficients are required for the PID controller 3 6 Controller Speed Profile When using position control with speed profile mode the controller aim for a target position using a speed control PID That means the position itself is not regulated even thought the given SetPoint is a position On the other hand the motor speed is regulated according to the built in speed K Team S A 17 profile Figure B I describe the speed profile as it can be configured using the MaxSpeed and Acceleration registers MaxSpeed A Acceleration Start Position Target Position Figure 3 1 Speed Profile 3 7 SetPoint Sources The target point see section B 5 for the controller can be set from various sources The most common use is to set the target point by writting into the SetPoint registers 0x2F 0x32 but other sources may be useful for specific applications The source can be modified using the SetPoint Source register 0x29 The default mode 0 requires writting to the SetPoint register other modes will use internal generators as described bellow Square Generator As displayed on figure B 2 the mode 2 will generate a square wave signal for the SetPoint according to the I
18. nge 5 28V Max global current Max current per motor K Team S A 10 Figure 2 8 Motors power connection 2 3 Hardware Protection 2 3 1 Electrostatic Discharge Protection As any electronic device the KoreMotor can be damaged by Electrostatic Discharge The quadature encoders interface chip on the board has been identified as very sensitive and special care should be taken to avoid any problem It is recommended to connect the KoreMotor ground signal to the earth or with the robot chassis for embedded use A quadrature encoder interface failure will shut the board ability to read encoder feedback and globaly prevent the related motor controller proper operation 2 3 2 Motor Controller Fuses The motor cotrollers are protected from overcurrent with dedicated fuses Each motor channel is protected with a 2 Amps fuse and the board is protected with a general 5 Amps fuse Higher peak currents are normaly supported by the board and all its components but continuous operations should respect these limits Please contact your K Team dealer for support if a fuse replacement is required K Team S A 11 3 MOTOR CONTROLER 3 1 Controler State or Mode Each motor controller status is indicated or can be modified using the mode register 0x28 This register should be read to check the controller state and it can be written to switch from a mode to another The following modes are available Idle mode This is the default start
19. nt A 512 value represents the reverse maximum current thus 2 Amps by default any intermediate value can be deduced from the proportional relation The maximum supported cur rent can be reduced to increase the current measurement resolution please contact K Team for further information The current measurement can be disturbed because of the analog am plifier bias That means a null value for the measured current does not match the motor standby current The Torque bias register 0x3C is used to correct this variation the default bias is measured at startup when it is assumed the motor is not moving The returned current value is corrected using the bias such as RetunedV alue MeasuredV alue Bias The default bias can be modified if the startup value is incorrect 3 5 Regulation Type The controler supports six different type of regulation Each regulation will use a specific set of PID coefficient depending on the parameter which is actually regulated The PID coefficients are usual proportional derivate K Team S A 16 and integral gains for the controller several other settings may be required for each specific mode and application The 32 bit SetPoint value 0x2F 0x32 is always used as the controller input According to the regulation type this register will set the target posi tion speed or current The actual controller internal input is only updated when the least significant byte is written 0x2F to ensure c
20. ntGenPeriod IntGenAmplitude and IntGenOffset registers IntGenOffset is a signed value IntGenAmplitude 2 IntGenOffset oe IntGenAmplitude 2 IntGenOffset IntGenOffset Figure 3 2 Square waveform K Team S A 18 Triangle Generator As displayed on figure B 3 the mode 3 will generate a triangle signal for the SetPoint according to the IntGenPeriod Int GenAmplitude and IntGenOffset registers IntGenOffset is a signed value IntGenAmplitude 2 IntGenOffset IntGenPeriod IntGenAmplitude 2 IntGenOffset Figure 3 3 Triangle waveform 3 8 Motor Blocked Test The controller uses a built in routine based on movement and current mea surement to detect if the motor abnormaly blocked A blocked condition is met only if the motor is not moving and if the measured current is over the defined SWCurrentLimit 0x56 0x57 The motor blocked flag and eventual error are only triggered if the both conditions are met during at least a BlockedTime 0x46 period That means the blocked flag will never be set if the motor is moving even very slowly and it will never be set if the current limit is not defined properly according to the controlled system The blocked time period can be calculated from the sampling period such as BlockedPeriod 2 x SamplingPeriod x BlockedTime 3 8 1 Mechanical Limit Detection Controller mode 6 can be configured to use the built in mechanical limit detection routine The mechan
21. onsistency Open Loop control The open loop mode does not use the PID controller The SetPoint value will directly set the output PWM ratio The PWM timer for the controller is a 10 bit timer that means the PWM ratio can vary from 1024 to 1024 with the sign indicating the direction A null value generates no signal while a 1024 value generate a 100 PWM ratio continuous signal Position control The motor position is regulated to the SetPoint value The position coefficients are required for the PID controller Position control with speed profile A speed profile is used to reach the target position defined in the SetPoint registers The speed regulation is actually used to follow the speed profile that is why speed coefficients are required for the PID controller The position PID is not used in this mode The speed profile is defined by the MaxSpeed register 0x6D and Acceleration register 0x52 see section 3 6 for further details The final position is held using the blocked motor mode in the target zone which is defined using NearTargetMargin 0x60 Speed control The motor speed is regulated to the Setpoint value As speed is a 16 bit measurement no speed beyond 2 can be regulated The speed coefficients are required for the PID controller Speed control with acceleration profile The motor speed is regulated to the SetPoint value but an acceleration ramp is used to reach the final speed According to the Acceleratio
22. r 0 address 0x01 0x05 Motor 1 address 0x02 0x06 Motor 2 address 0x03 0x07 Motor 3 address 0x04 0x08 2 1 3 Motor Connection Pinout 1 Motor 6 Motor 0907050301 2 Encoder 5V 7 Motor 100806 04 02 3 Encoder Canal A 8 Motor 4 Encoder Canal B 9 Encoder Index 5 Encoder Gnd 10 Encoder Index Figure 2 4 KoreMotor connector pinout The KoreMotor provides four DC motor connectors The motor con nection may vary from a manufacturer to another but the signals for qua trature encoders are usually similar Please refer to your motors manufac turer datasheet for details about the motor connections contact support k team com if further help is necessary Motor First motor connection Motor Second motor connection Encoder 5V Power supply for the encoder Encoder Gnd Ground reference for the encoder Encoder A First encoder phase K Team S A 7 Encoder B Second encoder phase Encoder Index Index for the encoder This signal is not available for all encoders and it is not required 2 2 KoreMotor Connections The KoreMotor requires a power supply connection and an external interface connection The main power supply is the motors supply it should be set according to the motors requirements regarding voltage and necessary current and is common for all motors Another supply may be necessary for the electonics on the board This supply is provided from the KoreBot or the Koala when the KoreMotor is used a
23. r Option Registers The controller behaviour can be configured using the two option registers 0x2A and 0x2B where each bit will enable or disable a feature The reg isters can be read at any time to retrieve the current option settings and options are activated or disabled as soon as a register is written K Team S A 14 Software option register bit0 sw _separated Use alternate algorithm PID derivation The derivate part is calculated using the process variable rather than the error bitl sw windup Activate the anti reset windup routine bit2 sw stopmin Stop the motor if the min position is reached section 3 2 2 bit3 sw _stopmax Stop the motor if the max position is reached section B 2 2 bit4 sw _stop_error Generate an error when position is out of limits in this case the error must be re seted before any further commands can be executed bit5 sw _blocked_stop Stop the motor if the blocked condition is met section B 8 bit6 sw_current_ctrl Activate software current limitation Not implemented bit7 sw_dir_inv Invert the motor direction Hardware option register bit0 hw _startup Startup mode 0 idle mode 1 control mode bitl hw analog_set Use analog input for setpoint Not Imple mented bit2 hw led Not Implemented bit3 hw resolution Resolution for the encoder 0 100 1 25 bit4 hw _torque_inv Invert the internal current measurement bit5 hw _optl Not Implemented bit6
24. s an extension but it is required for standalone use The external interface depends on the chosen dip switch settings The possibilities are KoreBot connection for I2C or KNet 2 0 interface Koala connection for KNet interface Standalone serial connection for both RS232 interface Custom connection for a standalone I2C interface 2 2 1 Standalone Serial Connection The standalone serial connection is used for both serial protocol mode A KoreConnect option which provides the RS232 transceiver is necessary to use the KoreMotor in standalone serial mode A custom made RS232 transceiver can be used as well schematics are available on request at support k team com The serial cable can then be connected to any PC A 5V supply voltage is required for the board electronic components see section 2 2 1 How to Supply 5V for Electronics When using the board as a standalone module a 5V external supply is necessary That supply should be provided using the red KNet connector see section J as displayed on figure 2 6 2 2 2 KoreBot Connections The KoreBot connection is pretty straightforward the boards should be simply stacked together The KoreBot will provide the electonics 5V supply and only the motors supply should be added Dip switch setting should be standalone I2C to use the I2C bus for communications between the KoreBot and the KoreMotor K Team S A 8 K Team S A RS232 cables KoreConnect Figure 2 5
25. up state except if hardware option 0 is set While in idle mode the controller will not execute any regulation and the motor is free wheeling Control mode The controller must be switched to this mode for any reg ulation to start When exiting Control Mode the regulation will stop according to the new mode description Stop mode When switched to this mode the controller will hold the mo tor in blocked state both motor pins are electricaly connected Sleep mode The controller is switched to a minimal activity status and the motors are set to free wheeling This mode can be used to optimize power consumption Reset mode Mode to reset the controller The controller will then switch to the startup mode according to hardware option 0 Save configuration mode Save all registers to EEPROM for backup A special protection patern must be written in register 0x28 to access this mode Values 0x55 OxAA and 0x05 must be written sequentially to enter mode 5 The first two values are not stored to the register and cannot be read The controller will switch back to idle mode when the backup is completed Search limit mode This mode will start a mechanical limit detection routine The routine will use speed regulation to perform the test using the current target point setting and motor blocked test see sec tion B 8 Resulting 32bit positions are stored in SoftStopMin 0x4A 0x4D and SoftStopMax 0x4E 0x51 The controller will switch bac
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