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Tutorial SMC3 Arduino 3DOF Motor Driver and Windows Utilities

Discussion in 'SimTools compatible interfaces' started by RufusDufus, Dec 1, 2013.

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Don Weatherby New Member Gold Contributor

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noorbeast said: ↑

The purpose of the SMC3 utility is to tune all parameters specifically for your hardware. I very much doubt pwmmax at 255 is appropriate.

Can you please post pictures of all of your SMC3 settings.

And following the SMC3 set up steaps please let us know at what pwmmax value the motor starts to move:

Disconnect the motor power supply

Make sure Simtools is not running – we’re not ready for that yet!

Wire up the Arduino (with SMC3 installed) to your H-Bridges and connect to your computer via USB

Run the Windows SMC3 Utility software and make sure it communicates with the Arduino (There is no need to set baud rates, they are not configurable)

Set the Kp, Ki, Kd, PWMmin, PWMmax, PWMrev to 0 for ALL motors (This will make sure the motors don’t move)

Set Clip to 255 (you need to do this first) and Limit to 255 (This will give you plenty of margin if something goes wrong while setting up)

Turn on the power to your motors – nothing should move at this stage!

Set Kp to about 400

Now slowly, increase PWMmax… at some point the motor should start to move. When it does check the “Green” feedback line is moving toward the “Blue” target position.

If it is then that motor and feedback is wired correctly - proceed to test other motors.

If it is moving away turn off motor power immediately (or quickly reduce PWMmax again). In this case you need to either reverse the wires to the motor being tested –OR– reverse the +5V and GND wires to your feedback pot for the motor being tested (do not do both). Restart the test from the beginning.

Do the above for each motor

Click to expand...

Thanks so much for the feedback. Did all these steps over again. all works correctly. here is pic of settings
Don Weatherby, Mar 27, 2023

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Don Weatherby New Member Gold Contributor

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the motors start to move at 36 pwmmax

Don Weatherby, Mar 27, 2023

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noorbeast VR Tassie Devil Staff Member Moderator Race Director

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Don Weatherby said: ↑

Thanks so much for the feedback. Did all these steps over again. all works correctly. here is pic of settings
97163
Click to expand...

Don Weatherby said: ↑

the motors start to move at 36 pwmmax
Click to expand...

OK, now run the Sine test under the Out Mode heading with pwmmax and pwmrev both set to 50, to see what the basic tracking is like.

noorbeast, Mar 28, 2023

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Don Weatherby New Member Gold Contributor

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- Agree x 1
Don Weatherby, Mar 28, 2023

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Don Weatherby said: ↑

97164
Click to expand...

That is pretty close, work on tweaking settings further so the upward slope tracks better.

Max Limits and Clip Input can be set to establish a boundary range, the function of those and all other settings are explained in the SMC3 second post: https://www.xsimulator.net/communit...driver-and-windows-utilities.4957/#post-48121

noorbeast, Mar 28, 2023

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Don Weatherby New Member Gold Contributor

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OK Thanks i will check that out.

Don Weatherby, Mar 28, 2023

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Pierre Lalancette Sir Lalancelot Gold Contributor

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This is what I have. It does not mean it is the best setup, but it seemed to work.

Pierre.

Pierre Lalancette, Mar 29, 2023

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Pierre Lalancette said: ↑

This is what I have. It does not mean it is the best setup, but it seemed to work.
97194

Pierre.
Click to expand...

I doubt PWMmax and PWMrev values need to be that high, but the rest seem to be pretty sensible.

My guess would be try PWMmax and PWMrev at 120-150 and run Sine to see how well it tracks.

noorbeast, Mar 29, 2023

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Don Weatherby New Member Gold Contributor

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Thanks so much. im doing some experimenting to see how that helps.
- Like x 1
Don Weatherby, Mar 29, 2023

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ampcode New Member

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Hi,
Can someone explain me difference between Target sent and Target recv plot? light and dark blue?
And why for some those are equal and for some, like me, they are not?
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ampcode, May 13, 2023

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Fred Bear New Member

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Hello All
I'm hoping for some advice.
SMC3 ver 13.07 ( Its a DOF reality M2 that I have modified and upgraded into a 2DOF platform).
All is working, but I cannot get the SMC3 limits to change.
Example - POT feedback is - Up limit is 3.3 volts. Mid point is 2.5 v and lower is 1.8v.
It does not matter what numbers I set for Max limits and Clip input, the servos will only drive to these max and min feedback (pot) voltages. IE 3.3V Max, 1.8V Min.
I am wondering if the SMC3 loaded into the Arduino has the max limits and clip inputs locked ?

Am I correct to say that with the limits set to max, the servo should drive to virtually 0 and 5 volts of POT feedback ?

Many thanks.
Warren.

Fred Bear, May 22, 2023

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noorbeast VR Tassie Devil Staff Member Moderator Race Director

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When you say:

Fred Bear said: ↑

SMC3 ver 13.07
Click to expand...

Where is that from?

I ask because SMC3 in this thread is ver 1.0: https://www.xsimulator.net/community/attachments/smc3-v1-0-zip.40556/

And SMC3 Utils is ver is 1.01: https://www.xsimulator.net/community/attachments/smc3utils-v1-01-zip.24768/

noorbeast, May 22, 2023

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Fred Bear New Member

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Hello Noorbeast
The control box is a DOF Reality M2
I used DOF Reality tools to do their firmware update.
Their SMC3 utils is called Ver 1.02, But it says Ver 1.01 on its screen.

Can you advise on how to adjust range for servo feedback ?
Currently the servo moves 100% + is 3.3 volts, and 100%- is 1.8 volts.
I'm looking to use a range of something like 0.5 to 4.5 volts.
Many thanks.
Warren.

Fred Bear, May 22, 2023

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I just uploaded a screen shot
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Fred Bear, May 22, 2023

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Fred Bear New Member

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Well, for anyone who may find this useful..
Dof reality's version of SMC3 has a lot of the parameters locked..
(Side note...
1.. It appears there is no easy way to backup software already loaded on an Arduino Uno R3..
2.. the DOF Reality tools will NOT reload their version of SMC3 if you load the normal version 1 - not a problem for me, but be aware... Balance function will also NOT work).
So, I compiled and loaded SMC3 VER 1 .0..... Set up parameters as I wanted, and all is good. I can now get full travel on my servos.
Best regards.
Warren.
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Fred Bear, May 22, 2023

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Bagslo New Member Gold Contributor

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Hi, I am working on a 2DOF and Built the control part with unoR3 and IBT-2
when trying to use SMC3 utility to find the right parameters I met the following problem: after the utility establishes connection with the Arduino board I cannot turn on any of the motors, all appear turn in off and cannot be on again!
Any suggestion?
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Bagslo, May 26, 2023

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Pierre Lalancette Sir Lalancelot Gold Contributor

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Are your potentiometer at the middle? If not, they trigger the safety stop.
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Pierre Lalancette, May 27, 2023

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Bob the builder New Member

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where can i find the links to order everything? or could someone help me with this becouse i want to make sure i order the correct parts

Bob the builder, Jun 1, 2023

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Bagslo New Member Gold Contributor

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My potentiometer îs the green line

Bagslo, Jun 2, 2023

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Pierre Lalancette Sir Lalancelot Gold Contributor

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Bagslo said: ↑

My potentiometer îs the green line
Click to expand...

It should be in the center as your actuator is in the center and follow along. In this video, my actuator is a bit up and so is the green line.

Pierre Lalancette, Jun 3, 2023

#2400

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