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dephyactpack [2019/02/21 14:55]
jfduval
dephyactpack [2019/07/03 21:45]
jfduval [Specifications]
Line 39: Line 39:
 |Commutation type  |  4-quadrant Field-Oriented control (4Q FOC)  | |Commutation type  |  4-quadrant Field-Oriented control (4Q FOC)  |
 |PWM frequency ​ |  20 kHz  | |PWM frequency ​ |  20 kHz  |
-|Max continuous current ​ |  10 A (Note 1)  | +|Max continuous ​motor current ​ |  10 A (Note 1)  | 
-|Peak current ​ |  30 A (Note 1)  |+|Peak motor current ​ |  30 A (Note 1)  |
 |High level controller ​ |  STM32F427 180 MHz Cortex-M4 with floating-point unit (FPU)  | |High level controller ​ |  STM32F427 180 MHz Cortex-M4 with floating-point unit (FPU)  |
 |IMU  |  MPU-9250 6-axis (3-axis accelerometer,​ 3-axis gyroscope) (Note 2)  | |IMU  |  MPU-9250 6-axis (3-axis accelerometer,​ 3-axis gyroscope) (Note 2)  |
Line 50: Line 50:
 |Safety protections (HW)  |  52V TVS, 10A slow-blow fuse  | |Safety protections (HW)  |  52V TVS, 10A slow-blow fuse  |
 |Intrinsic sensors ​ |  Battery voltage, intermediate voltage, +5V bus, temperature,​ etc.  | |Intrinsic sensors ​ |  Battery voltage, intermediate voltage, +5V bus, temperature,​ etc.  |
-(1) Higher currents can be used with a heatsink. +//(1) Higher currents can be used with a heatsink. 
-(2) Magnetometer disabled by software – overpowered by the motor’s magnetic field+(2) Magnetometer disabled by software – overpowered by the motor’s magnetic field//
  
 ===== Quick start guide ===== ===== Quick start guide =====
Line 74: Line 74:
   * [[https://​neurobionics.engin.umich.edu/​research/​wearable-robotics/​neurobionics-leg/​|University of Michigan'​s Neurobionics Leg]]   * [[https://​neurobionics.engin.umich.edu/​research/​wearable-robotics/​neurobionics-leg/​|University of Michigan'​s Neurobionics Leg]]
   * [[https://​opensourceleg.engin.umich.edu/​|Open-Source Leg]]   * [[https://​opensourceleg.engin.umich.edu/​|Open-Source Leg]]
 +
 +===== Tips, Tricks & Best Practice =====
 +
 +  * Before plugging your ActPack, please review the [[dev|Important Safety Warnings]] page.
 +  * Prevent USB connector problems
 +    * Make sure that the through-hole support legs are soldered to the PCB (one CM forgot to do it). It greatly reduces the chances of ripping the connector. Contact Dephy if you need assistance with this.
 +    * Whenever possible connect & disconnect the computer side of the USB cable (USB A), not the ActPack side (USB Micro B)
 +    * If you use USB other than for a bench-top experiment, you must provide strain relief on the cable
 +  * Having USB connected will prevent a full power-cycle,​ even if you turn the module on & off with the push-button. After reprogramming one or more microcontrollers always do a true power cycle.
 +  * When using Bluetooth we recommend waiting 15s between powering the circuit and starting a stream (from the GUI or the scripts). The RN-42 boots in a slow mode and transitions to fast after 10s. Starting a stream before can create issues.
  
 ===== Additional Resources ===== ===== Additional Resources =====
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   * {{ ::​dephy_actuator_package_datasheet_2019.pdf | Datasheet}} (PDF)   * {{ ::​dephy_actuator_package_datasheet_2019.pdf | Datasheet}} (PDF)
   * [[https://​goo.gl/​82irvp|3D files (STEP)]] (26MB)   * [[https://​goo.gl/​82irvp|3D files (STEP)]] (26MB)
-  * Other than a few exceptions, all ActPack sold before 2019 use Rigid 0.2. Starting in 2019 we use Rigid 0.2B. [[ri02connectors|FlexSEA-Rigid 0.2(B) Connectors]]+  * Other than a few exceptions, all ActPack sold before 2019 use Rigid 0.2. Starting in 2019 we use Rigid 0.2B.  
 +  * [[ri02connectors|FlexSEA-Rigid 0.2(B) Connectors]]
   * [[actpackfirmware|Actuator Package Firmware Update]]   * [[actpackfirmware|Actuator Package Firmware Update]]
   * Recommended USB cable: [[https://​www.digikey.com/​product-detail/​en/​tensility-international-corp/​10-02333/​839-1429-ND/​8323611 | Tensility 10-02333]]   * Recommended USB cable: [[https://​www.digikey.com/​product-detail/​en/​tensility-international-corp/​10-02333/​839-1429-ND/​8323611 | Tensility 10-02333]]
 +  * [[rigid|FlexSEA-Rigid]]
 +  * [[rigidPatches|Known hardware problems and troubleshooting]]
  
dephyactpack.txt · Last modified: 2019/09/10 13:53 by rqurashi