FlexSEA Wiki

A WEARABLE ROBOTICS TOOLKIT

User Tools

Site Tools


dephyactpack

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
dephyactpack [2019/01/25 15:51]
jfduval [Additional Resources]
dephyactpack [2019/04/18 23:35] (current)
jfduval [Tips, Tricks & Best Practice]
Line 9: Line 9:
   * Fully integrated brushless motor (BLDC), power electronics and control logic   * Fully integrated brushless motor (BLDC), power electronics and control logic
   * Plug and play solution: no programming needed for most applications   * Plug and play solution: no programming needed for most applications
-  * Cross-platform graphical user interface and full suite of Python demo scripts+  * Cross-platform graphical user interface and full suite of C/​C++, ​Python ​and MATLAB ​demo scripts
   * Built-in high-performance controllers:​ current, position, impedance, and voltage.   * Built-in high-performance controllers:​ current, position, impedance, and voltage.
   * Built-in sensors and interfaces: 6-axis IMU, voltage, current, temperature,​ strain gauge amplifier, etc.   * Built-in sensors and interfaces: 6-axis IMU, voltage, current, temperature,​ strain gauge amplifier, etc.
-  * Communication:​ Bluetooth, USB, RS-485, SPI, UART and I2C+  * Communication:​ Bluetooth ​Classic EDR, USB, RS-485, SPI, UART and I2C
   * Safety features: battery I²t, motor I²t, voltage limits, temperature   * Safety features: battery I²t, motor I²t, voltage limits, temperature
  
Line 30: Line 30:
 |Material ​ |  7075-T6 Aluminum ​ | |Material ​ |  7075-T6 Aluminum ​ |
 |Finish ​ |  Black anodization ​ | |Finish ​ |  Black anodization ​ |
 +//Can be customized and/or engraved. Ask during the quoting process.//
  
 {{ :​actpack.png?​600 |}} {{ :​actpack.png?​600 |}}
Line 45: Line 46:
 |Strain-gauge amplifier ​ |  One full-bridge channel, 5V excitation Gain = 203  | |Strain-gauge amplifier ​ |  One full-bridge channel, 5V excitation Gain = 203  |
 |Motor encoder ​ |  Absolute magnetic encoder, 14-bits ​ | |Motor encoder ​ |  Absolute magnetic encoder, 14-bits ​ |
-|Current sensing and control ​ |  Motor: 3-ch 12-bits sensing, ​20kHz PI controller ​ |+|Current sensing and control ​ |  Motor: 3-ch 12-bits sensing, ​10kHz PI controller ​ |
 |:::  |  Battery: ±20A, 900Hz bandwidth, 12-bits ​ | |:::  |  Battery: ±20A, 900Hz bandwidth, 12-bits ​ |
 |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 73: 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 =====
  
-  * {{ :dephy_actuator_package_datasheet_2018.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]]
  
dephyactpack.1548431470.txt.gz · Last modified: 2019/01/25 15:51 by jfduval