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units [2019/03/25 12:06]
flabelle
units [2019/10/02 18:48] (current)
jfduval [6-ch Strain Amplifier]
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 |Mot_vel | Motor Velocity | ticks/ms | See note 1 | |Mot_vel | Motor Velocity | ticks/ms | See note 1 |
 |Mot_acc | Motor Acceleration | %%rad/s^2%% | See note 1 | |Mot_acc | Motor Acceleration | %%rad/s^2%% | See note 1 |
-|Mot_curr | Motor Current | mA | Not filtered |+|Mot_curr | Motor Current | mA | Internally ​filtered, high bandwidth ​|
 |Mot_volt | Motor Voltage | mV | Not filtered| |Mot_volt | Motor Voltage | mV | Not filtered|
 |Batt_volt | Battery Voltage | mV | Analog: 1st order RC, fc = 3.56kHz. Digital: moving average of 32 samples, equivalent to 138Hz.| |Batt_volt | Battery Voltage | mV | Analog: 1st order RC, fc = 3.56kHz. Digital: moving average of 32 samples, equivalent to 138Hz.|
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 Two references are used: [[https://​www.invensense.com/​products/​motion-tracking/​6-axis/​mpu-6500/​|MPU-6500]] and [[https://​www.invensense.com/​products/​motion-tracking/​9-axis/​mpu-9250/​|MPU-9250]]. Their scales and gains are the same. The MPU-9150 includes a magnetometer,​ not currently used (on FlexSEA-Rigid it's mounted on the motor... so it's just a bad position sensor). Two references are used: [[https://​www.invensense.com/​products/​motion-tracking/​6-axis/​mpu-6500/​|MPU-6500]] and [[https://​www.invensense.com/​products/​motion-tracking/​9-axis/​mpu-9250/​|MPU-9250]]. Their scales and gains are the same. The MPU-9150 includes a magnetometer,​ not currently used (on FlexSEA-Rigid it's mounted on the motor... so it's just a bad position sensor).
  
-Gyro range can be ±250, ±500, ±1000, or ±2000°/s. Our systems typically come with ±1000DPS. The associated gain is 32.8 LSB/DPS, covering the full range of a signed 16bits variable.+Gyro range can be ±250, ±500, ±1000, or ±2000°/s. Our systems typically come with ±1000DPS. The associated gain is 32.8 LSB/DPS, covering the full range of a signed 16bits variable. The programmed bandwidth is 250 Hz.
  
-Accelerometer range can be ±2g, ±4g, ±8g or ±16g. Our systems typically come with ±4g. The associated gain is 8192 LSB/g.+Accelerometer range can be ±2g, ±4g, ±8g or ±16g. Our systems typically come with ±4g. The associated gain is 8192 LSB/g. The programmed bandwidth is 460 Hz. 
 + 
 +The IMU is read at 250 Hz.
  
 ==== Voltages & Currents ==== ==== Voltages & Currents ====
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 For integrated systems different units can be used (ex.: 10*degrees). Please refer to the system'​s page, or contact us. For integrated systems different units can be used (ex.: 10*degrees). Please refer to the system'​s page, or contact us.
 +
 +==== 6-ch Strain Amplifier ====
 +
 +The 6-ch Strain Amplifier is an optional, external circuit that can read up to 6 strain gauges/load cells and make their data available over I2C. The [[strainamp|6-ch Strain Gauge Amplifier]] page has all the details.
 +
 +The data is read at 250 Hz.
 +
 ==== Other ==== ==== Other ====
  
units.1553515595.txt.gz · Last modified: 2019/03/25 12:06 by flabelle