TinyPower
Contents
1. 1 1 G3 CBBEBHEBHB e E Roe we e 11 PUE QT SEUA 1 NEERORERIDIILOTOIIDIII 11 STRxxx _ 2 SXAxxx 12 espe oid omae dE Sob A 12 SRAxxx tiii ttt gr 1 3 SAEPE ST CO D 3 22 a NN E 13 G GERUH 1 15 1r3 EG 1 4 TinyPower Ver uean NAK ROD ER ADC ADV CEEE coke komen PV e QUI Pur URBC OA deis voce deo de sp E EV MR VV X I N XOUTxxxx2. o PnDUxl Output x X of PHH to motor channel n R motor rotation control commands RCnRSx1 Control rotation of motor ch to x Irad sl RSnPRx1 Set number of pulses per ES xU RSnGRx1 Set gear ratio to l x RSnRPx1 Set P gain to x RSnKTg Set I gain to gw RSnKDx1 Set D gain to x RSnFFxl Set Feed Forward gain to x RSnDCxl1 Set Dampig Coefficient for I to x 9 1 RSnMDxl Set wheel diameter x ml RSnDIxl Set direction of rotation x 1 1 RGn Bet parameters for rotation control V vehicle motion control commands MC Control forward velocity to x m sl IVERg Control heading angular velocity to x Irad sl VSTR Set tread width to x m VSHBx Set surge accelaration to x m s2 VSHDx Set surge decelaration to x m s2 VSRBx Set heading angular accelaration to x rad s2 1 VSRDx1 Set heading angular decelaration to x rad s2 1 VG Get saved parameters for vehicle control EG Get other saved parameters M measurement commands MADC Measure analog value in 18bits binary HADY Measure analog value in volts I VI HPV Measure power source voltage V HCUR Measure motor current A MEI Measure encoder pulses HEY Measure wheel velocities m s and encoder
3. Augu n 2 xxx gt RS1KP204J Motor 1 P Gain 20 is saved ERROR out of range KP must be 0 lt x lt 1000 c E Uu Ww TinyPower Ver 3 1 MSnKIxxx n 1 2 xxx gt RS1KI5d Motor 1 I Gain 5 is saved ERROR out of range KI must be 0 lt x lt 1000 ERROR out of range Motor ch must be 1 lt x lt 2 MSnDCxxxx B n 1 2
4. FH TinyPower Ver 3 1 BiSnDIxx H n 1 2 xx i 1 1 gt RS1DI 1 Motor 1 Direction 1 is saved ERROR out of range Direction must be 1 lt x lt 1 ERROR out of range Motor ch must be 1 lt x lt 2 Bn n 1 2 gt RGIA PRxxxx GRxxxx KPxxxx KIxxxx KDxxxx FFxxxx DCxxxx WDxxxx DIxxxx
5. 60 0 100 60 SnDTxx PWM 20kHz R CnRSxxx rad s n 1 2 xxx IradWsl gt RC1RS1 5 lt d ERROR out of range rad s must be 100 lt x lt 100 ERROR out of range motor ch must be 1 lt x lt 2 TinyPower Ver 3 1 MSnPRxxxx 1 n 1 2 xxxx
6. 15 HEV mu MEV 1 m s m s icount1 icount2 TinyPower Ver 3 1 Gm s icount1 icount2 SnDIxx gt MEVS BMR Hj 5 SnDIxx PPR lrad sl gt MMR
7. TL 0 0v 1 5 v BXOUT O I1 4 3X 1 ON 0 OFF gt MXOUT1111 1 ik 0 0v 1 5 v 1 BLED LED1 2 ON OFF LED1 2 ON OFF 1 0 gt MLED11 fl LED1 2 ik 17 BALL Hj uy IM Eom 7 gt mall ik gt MALLA mL dice
8. ASCII CR 0dH LE 0aH xxH H 16 1 xxx 2 3 xxx 4 5 6 1 n 1 DC 1 2 RC 1 3 ASCI 2 xxxxx 1 4 ASCI 3 xxxx 1 4 ASCIIS2 F 4 xxxxx 1 5 ASCHI TinyPower Ver 3 1 1 2 3 4 5 EEPROM
9. TinyPower OFF TinyPower CPU SW ON EEPROM TinyPower Ver 3 1 P PWM BunDUxxxx PWM PWM 1 60 PWM n 1 2 xxxx 100 100 gt P1DU609 ERROR out of range duty must be 100 lt x lt 100 ERROR out of range motor ch must be 1 lt x lt 2 0 100 200 100 0
10. n 1 2 xxx gt RS1FF20 lt g Motor 1 FeedForward Gain 20 is saved ERROR out of range FeedForwardGain must be 0 lt x lt 1000 ERROR out of range Motor ch must be 1 lt x lt 2 LE MSnWDxxx mi Hj dug OE RE m n 1 2 xxx m gt RSIWDO 34 Motor 1 Wheel Diameter 0 3 is saved ERROR out of range WheelDiameter must be 0 lt x lt 10 ERROR out of range Motor ch must be 1 lt x lt 2
11. 1 2 1 0 0 PWM 11 TinyPower Ver 3 1 MSTRxxx xxx m gt VS8TRO 59 fi 0 5 ml TREAD 0 5 is saved ERROR out of range Tread must be 0 lt x lt 2 MSXAxxx xxx gt VSXA0 59 0 5hm s2 XACCEL O 5 is sa
12. tt tt t t t t n ng LEDxx LED1 2 ONOEF ALL I f RE SET ALL CRxxzx ett B nt ng gg BAUDxxxx HELP e lc c c c 3 1 0 NN oO Oo OU UO OO A A A TinyPower Ver 3 1 avy FEJ F ASCIL ASCHI Enter Return
13. 4 gt RS1PR400 lt g Motor 1 PPR 400 is saved ERROR out of range ppr must be 0 lt x lt 999999 ERROR out of range motor ch must be 1 lt x lt 2 2 zuo EX AE 4 MSunGRxxxxx 5 n 1 2 xxxxx gt RS1GR31 41 1781 41 Motor 1 GearRatio 81 41 is saved ERROR out of range motor ch must be 1 lt x lt 2 E 5U SnKPxxx
14. RACCEL 0 5 is saved BSRDxxx Bj xxx 2VSRDO 54 Pil 0 5 Irad s3 RDECEL 0 5 is saved BAG gt VGA ix Treadxxxx Xacxxxx Xdexxxx Racxxxx Rdexxxx Vmaxxxxx Vminxxxx Rmaxxxxx Rminxxxx 13 TinyPower
15. Ver 3 1 BEG RS232C gt EGJ i f EG Ctrl100Hz baud57600bpsd 200Hz 57600bps M BADC 4 10 gt MADCA ik sMADC 0 1023 DROIR x 4 BADV 4 gt MADV ix MADV 0 5V x 4 14 TinyPower Ver EPV gt MPV ix MPV 24 1 24 1
16. ERROR out of range Motor ch must be 1 lt x lt 2 10 TinyPower Ver 3 1 V 2 H CXxxx 5 xxx m sl gt VCX0 59 ERROR out of range Speed must be 30 x 30 CR 0 0 PWM BCRxxx gt VOR1 x Irad s ERROR out of range heading must be 10 lt x lt 10
17. Ll c EP Uu ECUR B gt MCURq MCUR 1 LA J 2 iE A 3 1 om Br HA 100Hz 0 01 count1 count2 icount1 icount2 gt MEJ ix ME count1 count2 icount1 icount2 SnDIxx A B
18. MMR LR 1 Irad s RR 2 Irad sl HVV Hj SnDIxx 2 2 gt MVV4 MVV hm s rad s icount1 icount2 ox JE 16 TinyPower Ver 3 1 BXIN Bl SSEIZOxTZZ J1 5 gt MX INA ik f MEXIN 111114 1 1
19. xxxx gt RS1DC0 99 Motor 1 Damping Coef for Integration 0 9 is saved ERROR out of range DiscountRate must be 0 x 1 ERROR out of range Motor ch must be 1 lt x lt 2 0 00 1 00 0 95 Rie ni BSnKDxxx n 1 2 xxx gt RS1KD59 Motor 1 D Gain 5 is saved ERROR out of range KD must be 0 lt x lt 1000 ERROR out of range Motor ch must be 1 lt x lt 2 TinyPower Ver 3 1 MSnFFxxx
20. pulses HHR Measure motor rotation in rad s HYY Measure vehicle velocities in m s Fad s HSIN Measure external input port status MAOUTxxxx Set external output port to x 1 or Bl MLEDxx1 Set LEDs to x 1 or 01 HHLL Measure all status I initialization amp other commands IRESET RLL 1 Reset all parameters to the factory settings CRx Set control rate to x 1 1000 Hz BRUDx 1 Change baudrate to x 48 2304 x10 2 bpsl HELP 1 Show this message gt 20
21. 100Hz is saved ERROR out of range ControlRate must be 1 lt x lt 1000 BBAUDxxxx RS8232C 4800 230400bps gt BAUD969 9600bps 3 ERROR out of range Baudrate must be 48 lt x lt 2304 19 TinyPower Ver 3 1 BHELP W 3 gt HELPA gt help EI COMMAND INSTRUCTIONS 11 see command reference manual P s Ps uxs mem as
22. Okatech TinyPower Ver 3 1 2012 5 TinyPower Ver 3 1 H X seee m m m m m m omo oh n om m n m n n t n n 4 44 f e IR f f f f m n nm m n nh tm n n ng A P PWM e e 5 7 r 5 5 25 5 22 52 5 5 6 nDUxxxx PWM 6 R 4 6 CnRSxxx rad s 6 SnPRxxxx 7 SnGRxxxxx 7 SnKPxxx 877i 7 SnKIxxx 8 SnDCxxxx 8 SnKDxxx 8 SnFFxxx _ 9 DE SRI JI DO ERETALILLLIDL IT 9 Sa p pPusxrEeba ERES lise opus Rhe Reo 10 Gn 1 0 V 2
23. iu H D Converter HADY EGO 2 hh SPA MHDC 588 656 660 664 Power Source Voltage 11 4 MPV Motor Current MCUR ENCODER 8 48 8 5 tHE 0 B0 O O ENCODER and Velocity 0 0 0 HEY 0 Motor Rotation HHR 0 6 Vehicle a HYY 0 8 8 eternal Input THMERIN 11111 eHternal utput HX0UT 0800 Set LED MLED 00 TinyPower Ver 3 1 18 TinyPower Ver 3 1 I BRESET ALL ik gt IRESET ALL4J All parameters are initialized LM S BCRxxx 1Hz 1000Hz 1 1000 gt CR100 4 100Hz Control Freq
24. ved ERROR out of range Xaccel must be 0 lt x lt 1000 BSXDxxx xxx gt VSXD0 59 fl 0 5hm s2 XDECEL O 5 is saved ERROR out of range Xdecel must be 0 lt x lt 1000 12 TinyPower Ver 3 1 BSRAxxx xxx gt VSRAO 54 fil 0 5Irad s2
Download Pdf Manuals
Related Search
TinyPower tinypower tiny power bank tiny powerpoint tiny powershell projects tiny power steam engines tiny powerhouse tiny powerful torch tiny powerful hand vacuum cleaner tiny power box tiny power rangers tiny power ups club tiny power supply