AMC-AASD15A servo controller

The torque develops against a fixed point. When i said about 10mm position distance, its what the commanded distance to the servo should be if there is no obstacle. If the servo is blocked from rotating, it will instead start developing torque that is proportional of the distance command you sending to it... simple.

I just gave the 10mm distance command as example, it may need more depending on the load that is attached on the servo before it reaches the max 300% torque.

Also using it in combination with position command, it will guarantee the motor won't start running away if the load breaks...

This is simple and works fine. Until you move the end of the actuator, like in a g helmet system when a user moves his head. It's ok, I'm over it. I just thought I would ask.

You can use parameters Pn189 and Pn190 in the aasd driver to map the arduino output (0.55-2.75) to 0 - 100% torque. No additional hardware needed. I think even -100% to +100% is achievable

Now that is interesting. Thanks for the pro tip!

So I was sent a metal enclosure for the AMC-AASD15A to modify for the 7th servo connector and add the 3.5mm connector I use for e-stop and force offline switches... nothing that an angle cutter (dremel) and a drill cannot handle!

Boy, this looks much better than I thought in person than on photos...





Thanks
Thanos

@Thanos what is this display you are using to see the EMI signal?

Its a DSO211 Nano
DSO211 NANO


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Thanos

Hi everybody. Its time to update the firmware of your AMC-AASD15A!!

There are other things that wanted to add, but this update was long due now so I released the most important features for now:
-Additional functionality on E-Stop and Force Offline inputs.
-Addition of calculations for easy use with Gearbox reduction rotary actuators.

Download the firmware file and the bootloader utility and unzip them. You can watch this video if you haven't updated the firmware before: Firmware update procedure for AMC-AASD15A

https://github.com/tronicgr/AMC-AASD15A-Firmware/tree/master/Latest_firmware


Here is the list of changes for the new firmware v2.08:

======= enc_6dof_AMC_AASD15A_v2_08 =======
release date: 01/22/2020:
-Added option for KLM input (e-stop) to either HOLD powered position or Kill power to the Motors
-Added option for FSW input (Force offline) to either Always Park or let user use park/standby button.
-Added Actuator type selection for Linear or Rotary type (gearbox reduction). The menus are showing new options fit for describing the gearbox like reduction Ratio, Steps of the motor and output Angle range as well the CW or CCW direction of the motor.

example calculation for gearbox:
(500pulses / 360 ) * 180degrees = 250 Pulses
250Pulses * (50:1 Reduction) = 12500 Pulses
*keep in mind that the max pulses buffer that AMC-AASD15A can use is 65535!






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Thanos

The AMC-AASD15A will be available now with Servo7-aux connector included, on the little PCB board already soldered, ready to plug and mount on the 3D printed enclosure.





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Thanos

Can we still order just the 7th aux servo connection for those of us who don't have it yet, but would like to add it for potential growth options in the future?

I may add a separate product on Tindie for it assembled, but otherwise you may order the PCB made and solder a DB25 female connector and male-female 2.54mm pitch headers yourself to it:

https://oshpark.com/shared_projects/pSGlJpx4

Thanks
Thanos

Donde podemos comprar la carcasa de metal?

I think you said: "Where can we buy the metal case?"

You can contact PT-Actuator for that, here:
http://www.pt-actuator.com/index.html


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Thanos

Here is the results of using the new rolling average filter on a large Closed-Loop stepper motor (Nema34). It definately inproves the quality of motion!!! Note these closed loop steppers can reach up to 3000RPM, have lots of rotor inertia and without proper acceleration-deceleration slopes, they overshoot too much !!!!!





These closed loop stepper motors, are hybrid servo motors, meaning to be used as constant speed (pulse rate) and have NO proper PID control so they lack acceleration-deceleration properties and pulse signal smoothing. Still much more noisy in my opinion that the real servomotor solutions.


Thanks

Thanos

No way... Is this similar to what ClearPath calls their "RAS" (Regressive Auto Spline)?

If so...
AWESOME AWESOME AWESOME SAUCE ! ! !

That is exactly what it is... it corrects the S-curve response of the motor, injecting pulses in the process!

Here is an explanation of RAS, that is exactly what I did

http://alvarestech.com/temp/RoboAse...ting/www.worldservo.com/html/features/ras.htm



Explained in this clearpath demp video as well:


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Thanos

Load up with this Valentines special discount. $20 off for the AMC-AASD15A servo controller!
Use this code on the checkout: E8477BB7


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Thanos


*limited supply in stock, expect great delays after because of parts extended delivery delays after coronavirus aftermath...

Now I can buy one for my wife