3 DOF / 3x Mixed Vertical Actuators 24v 200w / adjustable rig / Done and runing :D

I have some issues to fix so here is update:

1. Motors are too hot on rear so I decide to move levers arms from 50 to 35mm (60-70mm stroke)
Now motors temperature is little bit diferent than on room.



2. Runing game, after 30sec to 2 minutes - movements on rear stops working
I change Arduinos from ch340 to 16u2 problem solved. I change chip on burned genuino uno and working well

3. I dont trust cable connection in idc10 conector. Wires could be to big in dimension. After vibrations in future could be made shortcuts.



so I buy new ones and "conection tape".





4. I don't like too many wires in arduinos box so was done connections on arduino shields (after test I have to cut some existing conection on shields, was made shortcuts and I wasn't see this before ) Pictures are made before cuting + - mismatch.




And results:
before



After






Wires blue and black are grounds connecting together (2x arduino ground connected to 3x 24v powrs supply grounds)

After Upgrade I was play some 4h and working well

For check solders I use cheap electronic magnifying glass and old xp computer:

Reading all your posts I saw the images of SMC3 and in my opinion you should try to change some values .... I'll post an image of my setup, I would try it.

In my opinion you have a low PWMmax, the value 255 corresponds to the maximum output voltage for the motors ...
with the Kp you regulate the fluidity of the movement, the higher the value the more jerky the movement

When tuning the smc3 firstly set i and d to zero and increase P till you get good movement

You may not need to do anything to i and d if your motors are powerful and fast responding

I was spend lot of time to adjust this settings. First outside but the real deal for me was when I seat in rig and play all of settings one by one . When sinus an triangle works fine without delays and gently but just like line goes - I was turn to motion for each motor . And that what You see is movement corect for my "time machine" - no steps, no jumps and any spam or late to main line (blue).

Thanks for advice but I think every concept have diferent spec so thats the reason why its not as copy-paste parameters for new users. That was confuse for me when I starting as some lack of information but when I was on stage to use smc3 it was clear to find corect adjustment.

For exemple: if I move PWMmax or rev by 5 points up or down - movements start to be unstable etc.
One more. Take a look what forces working on diferent rigs. In my case I always push lewers in one direction and rules with "gravity" in oposite.

Regards

Everything is so very tidy, I am loving it! Nice work.

@seuszok Hello, how are you. Tell me - did you connect two Arduinos directly to the PC or through the USB hub?

Arduinos are connectet directly to pc but I add galvanic separation ADUM3160 :
3 DOF / 3x Mixed Vertical Actuators 24v 200w / adjustable rig / Done and runing
and arduinos have their own power adapter.

also all ground on rig side is connected (its important). Cable usb are 5m long. All working fine

Dont use hub, on forum many times was writen that generate lots of connection issues.
I use box Pc not laptop. I add 4x USB2.0 card on rear.

Hi @seuszok thanks to the detailed description of the full process.

I also bought AS5600 and already bookmarked your thread for future reference, could you share the 3D models that you used to old the AS5600 in place?

Thanks and congratz on your build.
L.Pinho

Hello. What ideas do you have about the following problem??
-reduce the 24v power supply to 18v or 20v for IBT2 to cool down
- "EMF back" of motor can damage IBT2 ?

Hi
From electrical point of view when You lower voltage You will raise curent (A), thats why 24v have benefit to 12v (couse most simple construction use 12v or 24v). If You want cool down use shorter arm on motors- its working for me
Read all my build history I was try describe all in detail.
So if Your motors not worm up too much You dont have "EMF back" problem, but remember about ground everything like I and many others describe.
Yes and use hall sensors not pot resistor! (You will find than motors have less work to do)

Regards

i have adjusted the max rheostat available on my supply from 24v to 20.8v. my lever is 2.5cm and motor 1016Z gearbox is 75rpm,hall sensors ratio 1.2
my rig
And what do you think about attaching a capacitor to the motor to filter the pulse?

Very, very nice mechanism,respect
As You do not use central joint all mass going on 3 motors so "they are busy" all time.
When I have issue about IBT2 (broke lots of them) I move to doble them on motor. IBT2 works fine but motors was wery hot so I reduce arm from r=50mm to r=35mm. From that point its working fine till this days.
About capacitor cant help - take an acount You change direction rapidly so motors should be more powerfull than needed to work fine.
You could try to add gas springs - they are low cost and working fine i that kind of design.

about the problem of datasheet IBT2 says maximum 25kz so in SMC3 setting 35kz is it okay?

Hello. In your diagram, all "-" are connected.
There is no such association on the original scheme. Tell me what is it for?