Wickie´s 6DOF Sim

Hi wickie,

Thanks for sharing your research about noise improvment . The two solutions seems to be efficient . It will be interesting if you can make a video to compare actuator operation with and without the noise improvment
Where did you buy the stripe ? Is it specifically to limit noise ?
How did you fix the two foam ?

Thanks

Hi Wickie.

Do you have CAD drawings of your universal joints (brackets + POM middle) that you would be willing to share (or sell). I have been through the entire thread and don't seem to any info on them other than where they were made and sandblasted. Thanks either way.

very nice project mate.....

i have some question
1. is the odrive can connect to simtools direcly without other microcontroller..? such as arduino with smc3, or maybe i need spesific build, so simtools can command the odrive
2. if i want to use enstop, do i need spesific build FW to do that

btw, i have plan to build with 4 x 400w servomotor and 2 odrive

=> 1) the Odrives are connected directly to the PC via USB. And the Odrive does communicate directly with Simtools or the mover interface.
=> 2) In the past, when I build my Sim, endstops was a problem because of electromagnetic interference and HW/SW - problems. So I left this way. Maybe the problems are solved in the meantime.
I decided to apply software limits for the actuators and build double endstop-dampers into my actuators. So runaways or emergency shut offs are no problem at all.
Wickie

thanks for the reply...

my next question, how the machine know the 0% and 100% position..?? other than the encoder count for full stroke...

is there any automatic start up calibration..?
and how it works..?
is it know because when we hit the hardware limit, tge current will be high and it will triggers the position limit initiation..?

AFAIK, the ODrives do a calibration routine at startup. They can home against a hardstop and I think that is what @PeterW's actuators do. From that starting point onwards they keep track of their positions simply by counting encoder clicks.

When configured properly it should be impossible for the motion cueing software (Mover, I guess) to command the actuators to go anywhere beyond their limits.
If they, for whatever reason, should still do then the ODrives should recognise that and throw an error (please confirm!)

Cheers,... Dirty

I can confirm that this is all correct. (This is how mine work.) Keep in mind though that the odrives are extensibly configurable, and you can have them set up such that they perform quite differently than this description... intentionally and unintentionally lol.