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actpackplan [2019/01/02 21:25]
jfduval
actpackplan [2019/10/02 15:31] (current)
jfduval [Resources]
Line 56: Line 56:
   - Click "Set Controller"​   - Click "Set Controller"​
   - Click on Slider //(You can use the Toggle tab or the Slider tab. For Open I prefer to use Slider.)//   - Click on Slider //(You can use the Toggle tab or the Slider tab. For Open I prefer to use Slider.)//
-  - Enter a max value (mV). 5000mV is a good starting point for benchtop experiments. Press ENter or click "​Update Min-Max"​.+  - Enter a max value (mV). 5000mV is a good starting point for benchtop experiments. Press Enter or click "​Update Min-Max"​.
   - Move the slider and look at your motor.   - Move the slider and look at your motor.
  
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 {{ ::​posctrl.gif |}} {{ ::​posctrl.gif |}}
  
-===== Ressources ​=====+=== Impedance Controller: setup & basic test ==
 + 
 +Setting up the controller and the gains: 
 + 
 +//Note: This is valid for all GUI released before October 2019.// 
 + 
 +  - Open up the Control Window (Tools->​Control Loop) 
 +  - Select ActPack in the "​Commands:"​ dropdown 
 +  - Select "​Current"​ in the "​Controller"​ dropdown 
 +  - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points. 
 +  - Click "Set Gains"​ 
 +  - Select "​Impedance"​ in the "​Controller:"​ dropdown 
 +  - Click "Set Controller"​ 
 +  - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring.  
 +  - Click "Set Gains."​ You can test the weak spring by manually moving the motor. 
 +  - You can continue to change and set the impedance gains as you wish. 
 + 
 +{{ ::​zCtrlSetup.gif |}} 
 + 
 +Demo: this demo was recorded right after the setup shown above. We use K = 325 and we change B from 0 to 1500 to demonstrate the effect of damping. 
 + 
 +{{ ::​zctrlDemo.gif |}} 
 + 
 +===== Resources ​=====
  
   * [[controlgains|Control Gains]]   * [[controlgains|Control Gains]]
-  * [[commandsandoffsets|Commands and Offsets]] +  * [[demodescriptions|Demo Scripts]]
-  * [[actpackpython|Actuator Package: Python scripts]]+
   * [[units|Units,​ References & Conversion Formulas]]   * [[units|Units,​ References & Conversion Formulas]]
  
  
actpackplan.1546464319.txt.gz · Last modified: 2019/01/02 21:25 by jfduval