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actpackplan

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actpackplan [2019/10/02 15:31]
jfduval [Resources]
actpackplan [2020/07/09 20:43] (current)
bbaig [Controlling the motor]
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 === Open Speed === === Open Speed ===
-  - Select Manage 1 as your active ​slave +  - Select Manage 1 as your "​Active ​slave" 
-  - Use Act Pack as commands +  - Use Act Pack as "​Commands"​ 
-  - Select ​"Open" ​in the controller ​list +  - Select Open in the "​Controller"​ drop-down ​list
   - 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 OpenSlider ​might work better.)//
   - 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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 === Position Controller: setup & basic test === === Position Controller: setup & basic test ===
-  - Select Manage 1 as your active ​slave +  - Select Manage 1 as your "​Active ​slave" 
-  - Use Act Pack as commands +  - Use Act Pack as "​Commands"​ 
-  - Select ​"Position" ​in the controller ​list +  - Select Position in the "​Controller"​ drop-down ​list 
   - Click "Set Controller"​   - Click "Set Controller"​
   - Write to Setpoint. Use the same value as the motor position.   - Write to Setpoint. Use the same value as the motor position.
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   - Open up the Control Window (Tools->​Control Loop)   - Open up the Control Window (Tools->​Control Loop)
   - Select ActPack in the "​Commands:"​ dropdown   - Select ActPack in the "​Commands:"​ dropdown
-  - Select ​"Current" ​in the "​Controller" ​dropdown+  - Select Current in the "​Controller" ​drop-down list
   - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points.   - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points.
   - Click "Set Gains"   - Click "Set Gains"
-  - Select ​"Impedance" ​in the "​Controller:" ​dropdown+  - Select Impedance in the "​Controller" ​drop-down list
   - Click "Set Controller"​   - Click "Set Controller"​
   - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring. ​   - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring. ​
actpackplan.1570030299.txt.gz · Last modified: 2019/10/02 15:31 by jfduval