Showroom Grigory's 6DOF #2 -- compact and no linear actuators, 220V servos

The servos are 4/12Nm and the planetary gearboxes have 20:1 reduction, so yes, 80 Nm nominal and 240 Nm peak.

Do you have available any Arduino sketches that will work and can accept data from the game Engine? (I am not a programmer and always at the mercy of those that can)



90st-m04025 Motor
RS485, 4NM 1000W Servo Motor Drive
LRF90(16-80-m6-100)-20, Ratio 20:1 Speed Reducer

Are you still using the same motors or have you looked at alternatives? They seem to have a really quick reaction

600 dollar a motor is indeed a lot but if it is worth it

Yes, I’m using the same 220v servos. Everything works perfectly and I am absolutely satisfied with the current setup.

I am at the same Problem

I love this setup. The Motors and the way to controll these Monsters.
But I have no idea about the Arduino Sketch..

It would be great if you share your Sketch tu use

Hello, I like your project very much. Can you share your 220v servo? Thank you.

What do you mean? I’ve provided the name of the servo in one of the posts above.

Hi! I have a VB.net app between simtools and Arduino, so Arduino sketch will not work by itself. I sure can share the sketch, but I’m now away from home on a business trip and only will be able to upload it upon my return.

Can you share your arduino code and debugging software，Thank you

Can you share your arduino code and debugging software，Thank you，https://www.xsimulator.net/community/threads/arduino-code-for-steppers.5434

Here is my Arduino sketch. It works for me, but there certainly may be bugs in it. Most probably there are bugs that may strike at a random moment. We are talking about powerful and potentially deadly machinery, so I do not recommend to use it if you do not know exactly what you are doing and take full responsibility.

I can actually share the Vb.net code as well, but people wishing to do something with it will need to compile it themselves. I have a lot of parameters like names of COM ports or ranges of movement hard-coded for my setup.

Please let me know if anyone needs that.

Thank you very much.
Yes I would like to see your Vb.net code also.
I hope to learn a lot more about vb and the arduino mega board.
I have the servo motor/controller/speed reducer from China that I have been experimenting with.
I agree that these AC servo motors make a great platform
And we all need to be cautious in building with them.
Thank you again for sharing your work with us...

Here is the VB.net application.

It expects that software and hardware connections are as follows:

Simulated wind:

Game Dash interface settings:


My fans are controlled by a Sabertooth 2x60 connected to COM15.

Port name can be changed in the code (FMain.vb):



GSeat:




My GSeat now only has two back flaps which are controlled by a single Kangaroo/Sabertooth at COM19.

Software can control two more lower flaps:


6DOF:




My Arduino Mega running the sketch is connected to COM12.

This can be changed here:



My rig does not have limit switches and so I need to manually set lever origins when turning it on.



I use actuator control buttons to manually move the levers so that they are all horizontal and then click "Define origin all" button to record this position as origin. Then I click "Automatic 6DOF" to start listening for commands from SimTools.



The app calculates correct lever angles using proper 6DOF model in M6DOF.vb file. For this to work, it is required to fill the geometrical parameters of the rig here:



(tl_dx is how far forward the traction loss rotation axis is shifted from the cockpit origin)

and here:



The order in which parameters are listed is here:



X-Y-Z axes are defined like this:

This looks like rocket science to me

Awesome work dude thanks for sharing

Here is some further information to explain how my Arduino is controlling the servos.

I'm using QS7AA030M servo drivers that can be controlled by STEP and DIR signals.

These drivers have a setting that allows adjusting by how much servos should move when a single STEP signal arrives. My setting is such that 180° arc corresponds to a total of 10000 STEP signals, or +/- 5000 STEP signals from horizontal lever position.

CN1 port of the servo driver has four pins that are used for STEP/DIR communications:


PULSE- and SIGN- pins of all six servo drivers are either connected to Arduino GND pins or to the digital pins that are set to permanent LOW state. Here are such "low" pin numbers in my setup:




PULSE+ and SIGN+ pins of all servo drivers are connected to Arduino pin numbers like this:



I additionally have ESTOP switch connected between Arduino GND and this pin:



If switch is open, Arduino stops sending step signals to the drivers.

Arduino stores lever positions as integers, with 5000 being the "neutral" position. I initially move all levers to make them horizontal and then tell Arduino that such pose is neutral.

Arduino listens to its serial port for one of the following packet types:

<tgt1,tgt2,tgt3,tgt4,tgt5,tgt6> -- where tgtN is the integer between 0 and 10000 specifying the target position for each of the six levers

<S,0,0,0010> -- set delay between STEP signals to 10 microseconds. This delay determines the speed of movement

<M,1,U,0025> - move motor 1 up by 25 STEP pulses

<N,0,0,5000> - record that current position of all motors is 5000
<N,2,0,5000> - record that current position of motor 2 is 5000

<R,0,0,0000> - report back the motor positions
<E,0,0,0000> - report back e-stop state

Did you change anything in the code? If not and if your servo rotates +/- 45 deg without gearbox then, if you want to have +/- 90deg range with 20:1 gearbox, you just need to change your servo driver’s “electronic gear” settings so that it makes 2*20=40 servo steps per single pulse received from Arduino. This is determined by P12 setting on my servo driver, for example.

Nothing needs to be changed in the code.

Thank you very much.
That solved the problem.
The servo is so fast !
My plan is to buy a motor/drive/gearbox over several months until I acquire all 6.
I will have the second one here in a week or two.
Is there a proper way to set up just 2 servos for a 2DOF rig?
That is what I have already built using wheelchair motors.
I would like to replace those motors with the new servos.