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Tutorial SMC3 Arduino 3DOF Motor Driver and Windows Utilities

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

Page 29 of 127

Mamati Member

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Hello to everyone,
I could't test the outputs on Simtools. The motors are always in middle position even I am playing with axis or dofs sliders. What can be the mistake that I made?

My specs:
Arduino Uno R3
Monster Moto shield
1 PC configuration
Spectrol Precision 5K potentiometer
Simple gear motors for test

I didn't made any simülator yet, but I made a test table with pots and motors.
It is working on SMC3 Utilities....everything seems fine.
It is my first try of sim, please help.
Thanks

Mamati, Mar 27, 2015

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I'm no expert but I think the interface output for smc3 should be
[A<Axis1>][B<Axis2>][C<Axis3>]
@Mamati
- Agree x 1
Last edited: Mar 27, 2015

Daguru, Mar 27, 2015

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@Daguru
Thank you for your reply,
I changed the output conf as you mentioned and I recheck then remake the wires...now It woooorrrkks
I don't know if it is only about output conf but anyway Thank you
- Like x 3
Mamati, Mar 27, 2015

#563
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@Mamati great glad you got it working

Daguru, Mar 27, 2015

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RufusDufus said: ↑

For those interested in another Arduino controller...

*** NEW BETA VERSION SMC v0.7.zip AVAILABLE 12/12/14 FOR TESTING ***

SMC3

The SMC3 is a "Simulator Motor Controller for 3 Motors" written for the Arduino UNO R3. At the time of writing this it has not been tested on any other Arduino model. The SMC3 uses a PID motor control loop. The PID algorithm has been optimised for this application and achieves 4096 PID updates per second for all three motors giving smooth precise motor control with well tuned parameters. Some characteristics of the controller:

Designed specifically for use with Simtools motion control software

Controls the position of upto three motors using analogue feedback

Hard (reverse) braking if motors move beyond defined limits

10bit accuracy (1024 steps) for both "target" position commands and position "feedback"

Extensive command set to setup and monitor the parameters for each motor

A second serial port for (optional) real time "live" monitoring/configuration

4096 PID calculation updates per second for each motor

Companion windows software to configure and monitor the SMC3

There are currently two MODES of operation that are configured by a single line of code at compile time before uploading to the Arduino.

MODE1: Supports the more common H-Bridges used in the forums. This mode has a PWM output pin plus two Motor Direction output pins. Examples include the MonsterMoto shield.

10832

REFER TO POST #3 BELOW IF YOU NEED MORE POWER

MODE2: Designed for H-Bridges that require direct drive of Highside and Lowside switch inputs. In this mode one switch is driven as a direction pin and the other with the PWM output however the PWM duty needs to be inverted whenever the motor changes direction with the direction pin. (An alternate approach would be to switch the PWM between inputs as direction changes) An example H-Bridge that uses this mode is the cheap 43A IBT-2 found on ebay.

10833

Software Setup

As the SMC3 is an Arduino motor controller the first thing you need to do is get the software onto your "Arduino UNO R3".

Download the SMC3 software attached to this post (SMC3.ino)

Get the Arduino IDE tools installed on your computer if you don't already have them. Follow the Arduino Getting Started guide found here: http://arduino.cc/en/Guide/Windows (Note the step for installing the drivers!)

Open the SMC3.ino with the Arduino IDE

Edit the code at the top if the file to select the MODE you will be using

Compile and Download the SMC3.ino program to your Arduino UNO R3

If you want, you could now jump to the Windows SMC3 Configuration software and check communications before proceeding further. (Refer next post)

Wiring Details

Code:

// +----+ +------+ // +-|PWR |--------------| USB |-----+ // | | | | | | // | +----+ +------+ o| // | o| // | o|AREF // | o|GND // NC|o o|13 TTL (software) Serial // IOREF|o +----+ o|12 TTL (software) Serial // RESET|o | | o|11~ PWM Motor 3 // 3.3V|o | | o|10~ PWM Motor 2 // 5V|o | | Arduino o|9~ PWM Motor 1 // GND|o | | UNO o|8 // GND|o | | | // VIN|o | | o|7 Motor 3 ENB // | | | o|6~ Motor 3 ENA // Motor 1 Pot A0|o | | o|5~ Motor 2 ENB // Motor 2 Pot A1|o | | o|4 Motor 2 ENA // Motor 3 Pot A2|o | | o|3~ Motor 1 ENB // A3|o | | o|2 Motor 1 ENA // A4|o | | o|1 // A5|o +-/\-+ o|0 // +-\ /---------+ // \--------------------/

MODE1:

Example wiring details for Monster Motor Board (again thanks to @eaorobbie for drawing)
10992

MODE2:

Arduino to H-Bridge (Chinese 43A)

ENA ----> IN1/RPWM
ENB --+-> EN1/R_EN
+-> EN2/L_EN (ie connect ENB to both R_EN and L_EN)
PWM ----> IN2/L_PWM
n.c. ----> IS1/R_IS
n.c. ----> IS2/L_IS
+5V ----> VCC
GND ----> GND

The image below shows wiring for two motors... Thanks to @eaorobbie for getting me started with the image
10925

*** to come ***

Initial Setup

I strongly recommend you follow the steps below if this is the first time you are using SMC3 with your simulator to reduce the risk of damaging anything.

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

The Second Serial Port

Temporarily disabled as of v0.63 - Use UDP Mode with SMC3Utils instead.

The SMC3 has a second (software driven) serial port that can also be used to setup and monitor the controller. The main use for this port is to provide “live” setup and monitoring while the controller is actually running and connected to simtools via the main USB serial port. All of the SMC3 commands are available through the second serial port however you need to be aware that only one port should be used to send position commands. You would normally connect to this second serial port using a second computer such as a laptop or an old desktop. I would not recommend using the Game machine or the computer running Simtools (especially if you are just starting out with Sim software) to also monitor the SMC3 second serial port.

To use the second serial port you will typically require a TTL serial to USB interface board (commonly found on ebay for a couple of $). Once you have the second serial port connected to a computer you can run the Windows SMC3 Utility software to setup and monitor the controller in the same way as the main serial port, but as mentioned above generally it would be left in the monitor mode so that Simtools is the only program sending position commands to the SMC3.

Why is a second serial port necessary you may ask… well it isn’t necessary however it allows you to see how well the SMC3 Motor Feedback loop actually tracks the motion data being sent by Simtools allowing fine tuning of the parameters while working with real motion data rather than just a square or triangle wave etc.

As with the main USB serial port, the second serial port is hard coded to operate at 115200 baud, No Parity, 8 data bits, 1 stop bit.

Simtools Setup

Setup for Simtools is very straight forward:

[A<Axis1>][B<Axis2>][C<Axis3>]

Set for 10bit binary output

Baud rate 500000 , N , 8 , 1 (10ms delay)

*** NEW BETA VERSION SMC v0.7.zip AVAILABLE 12/12/14 FOR TESTING ***
Updates Version 0.7

Added a POT scaling input that can be used to scale the motion output based on the POT position

POT scaling can be setup as one of two modes - Linear or non-linear

DO NOT ENABLE POT SCALING UNLESS POT ATTACHED TO ARDUINO

AN5 used for POT scaling input

The non linear scaling is designed to try and reduce the overall motion but maintain the "smaller" movements as best possible - ie road noise and stuff, but scale back on the huge side to side motion you get in higher power cars.

17537

Updates Version 0.63

Fixed a timer rollover bug

Removed second software serial as conflicts with PWM freq change (UDP is much more convenient anyway)

Updates Version 0.6

Added ability to change PWM freq (5,10,15,20,25,30,35 kHz for motors 1 and 2) (4 and 31 kHz for Motor 3 - Arduino limitations)

Added I term reset when the error is zero

Added the ability to change the PID calculation rate (Fpid divider)

Added a smoothing function to the D term calculations (Ks)

Updated interface commands to support latest Windows SMC3Utils program

Click to expand...

Thanks a million to all who takes the time to do all this for others!! So much information here it's awesome!
Rocket man, Mar 28, 2015

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I want to use 2 Moto Monster for 2 wormdrive motors but I couldn't find the wiring diagrams.
The picture below is for single motor...how must be the wiring for second Monster Moto to Arduino?

I will buy this 750W power supply http://www.endustriyelcihaz.com/mean-well-sp-750-12.html for powering 2Monster moto.
My wormgear motor specs: Motor 12V 190W 2000Rpm with 30:1 reduction
Is this power supply suitable for my hardware?
Why some people add car battery on their system?
Thank you
Attached Files:
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Mamati, Apr 2, 2015

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Mamati said: ↑

I want to use 2 Moto Monster for 2 wormdrive motors but I couldn't find the wiring diagrams.
The picture below is for single motor...how must be the wiring for second Monster Moto to Arduino?
Click to expand...

Arduino -------- Monster Moto 1
2 (Motor 1 H-Bridge ENA) ---------------7 and 8 (INA1 and INB1)
3 (Motor 1 H-Bridge ENB)----------------4 and 9 (INA2 and INB2)
9 (Motor 1 PWM) --------------------------5 and 6 (PWM1 and PWM2)
and
Arduino -------- Monster Moto 2
4 (Motor 2 H-Bridge ENA) ---------------7 and 8 (INA1 and INB1)
5 (Motor 2 H-Bridge ENB)----------------4 and 9 (INA2 and INB2)
10 (Motor 2 PWM) --------------------------5 and 6 (PWM1 and PWM2)

I will buy this 750W power supply http://www.endustriyelcihaz.com/mean-well-sp-750-12.html for powering 2Monster moto.
My wormgear motor specs: Motor 12V 190W 2000Rpm with 30:1 reduction
Is this power supply suitable for my hardware?
Click to expand...

One PSU should work. Battery is not needed if using a server ps.
- Informative x 1
Pit, Apr 2, 2015

#567
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Thank you for your kind reply @Pit
I didn't find the 750w power supply so I bought today two 500W 37.5A Din power supply from local shop.
Do I need battery with this power supply?

Thanks to your wiring info now I will be able to use these hardware:
1 Arduino Uno R3 (SMC3 installed) Thanks to RufusDufus for codes
2pcs Sparkfun Monster Moto shield (each for one motor)
2pcs 12V 190W 2000Rpm motor with 40:1 worm drive (50Rpm on shaft)
2pcs 12V 500W 37.5A power supply (each for one Monster Moto)
2pcs 10Kohm Made in Germany potentiometer
And I am planning to put heat sink on MonsterMoto with fan.

What are you thinking about this configuration?
Maybe later I will try some more powerfull motors with this configuration.
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Mamati, Apr 2, 2015

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@Mamati components are ok so far. You don't need stronger motors imo. Cooler and fan on the MMs are a must.

Pit, Apr 2, 2015

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Hi,
there is something wrong.. one of the mosfed burned, could you please check my wiring on the picture

After making the wiring as attached; the PC open, Arduino wired but software closed, Motors wired but Simtools and SMC3 closed I give the power....the leds on MonsterMoto lights on but after 5-6 seconds the A1-A2 mosfed on second MonsterMoto blow off suddenly.
The little test motors were already tested on one MonsterMoto, it was working with one MonsterMoto....I only put a second one.
I remark a link between 2 legs of the mosfed (you can see on the picture..yellow circle) but I don't know if this were already there and that's why it is burned or it's burned and it causes a link....I don't know...any idea?

What can be the problem? Please need help.

Mamati, Apr 6, 2015

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@Mamati please can you upload more pictures of all your wiring? High resolution pictures are strongly recommended. If (!) the wiring is OK I ask myself (or you) why you don't use any coolers? If I would do so my MMs would blow up within 1/100 seconds... to avoid any more damage PLEASE show us the wiring BEFORE you power up your system. Only in this case we can help you before it is too late But do not worry, I lost more money already than one MM (and some other members here for sure ).

Pit, Apr 6, 2015

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hmm, perhaps I found already something:

Perhaps you can explain why there a two cables?

Pit, Apr 6, 2015

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I pulled back the wires to test the other MM if it is working (one MM for two motors configuration)....and it is working without problem.
Before pulling the cables I check the wires and prepare a sheet posted above...you can check the wirings on the drawing for me.

There is no cooling because I am testing with simple weak (below 1Amp) motors. I didn't yet using my powerfull wormgear motors, when everything will be fine I will do a cooling for powerfull motors.

There are two cables, because I made a jump from positive lead from the motor A1-B1 is positive A2-B2 is negative.

If the drawing that I sent is correct so my my wiring is correct too....in this case maybe the board was faulty or I dropped soldering wire on the leads of the mosfet.

@Pit could you please check the drawing.

One more thing: I think that the other mosfet (A2-B2) is working so I want to use the MM it for one motor, when I powered again the damaged mosfet continues to burn, how can I leave out of order the damaget mosfet?

Thank you for your help

Mamati, Apr 6, 2015

#573
Pit - - - - - - - - - - - - - - - - Gold Contributor

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Mamati said: ↑

I pulled back the wires to test the other MM if it is working (one MM for two motors configuration)....and it is working without problem.
Before pulling the cables I check the wires and prepare a sheet posted above...you can check the wirings on the drawing for me.
Click to expand...

The drawing is correct, but I cannot evaluate your wiring as long you wont upload any pictures.

There is no cooling because I am testing with simple weak (below 1Amp) motors. I didn't yet using my powerfull wormgear motors, when everything will be fine I will do a cooling for powerfull motors.
Click to expand...

OK. Such small motors are no problem.

There are two cables, because I made a jump from positive lead from the motor A1-B1 is positive A2-B2 is negative.
Click to expand...

??? A1-B1 and A2-B2 have NEVER the same polarity, meaning they are switching the polarity! (A2-B2 is negative AND positive according on the direction of the motors...)
This graphic shows you the polarity which yourself have posted above:

If the drawing that I sent is correct so my my wiring is correct too....
Click to expand...

I will not longer support any requests as long as you are not willing to upload any photos of your hardware. Your comment is incomprehensible, everybody can make a mistake (and I did as well). Saying "If the drawing that I sent is correct so my my wiring is correct too" is unbelievable IMHO.

One more thing: I think that the other mosfet (A2-B2) is working so I want to use the MM it for one motor, when I powered again the damaged mosfet continues to burn, how can I leave out of order the damaget mosfet?
Thank you for your help
Click to expand...

By connecting only the wire for the healty chip but without guarantee due to the already damaged board, before you are not willing to upload any pictures (has been already said, if I remember correctly..........)

Pit, Apr 6, 2015

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I change the MM with a new one and now It is working without problem...so I think that I dropped soldering wire on the leads of the mosfet....that's why it blowed.
Regarding the damaged MM, I pull off the burned mosfet then powered it, the led is on no smoke or heat....(A2-B2) mosfed seems working but I will try with motor later.
Now I will modify the MMs with heatsinks and fans then try it with my powerfull motors.

I want to ask you the wiring diagram for third motor (traction loss), Iam confused to wire third pot and MonsterMoto to Arduino.
Thank you

Mamati, Apr 7, 2015

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Mamati said: ↑

I change the MM with a new one and now It is working without problem...so I think that I dropped soldering wire on the leads of the mosfet....that's why it blowed.
Click to expand...

Agree, you marked it but I did not see that first.

I want to ask you the wiring diagram for third motor (traction loss), Iam confused to wire third pot and MonsterMoto to Arduino.
Thank you
Click to expand...

How are you going to use the third MM (which modus)? If as a half bridge (30A/60A) all settings are described here: http://www.xsimulator.net/community...cts-as-a-single-motor-driver-more-power.5482/.
If as a standard h-bridge (15A/30A) please have a look at the first page of this thread.

Pit, Apr 7, 2015

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Pit, you are so kind to answer me.
I will use a half bridge (30A/60A)...thank you for the link.
For traction loss I am planning to use my one damaged mosfet MM. Are my wirings correct on the drawing attached?
And the middle leg of the third pot? to A2 on Arduino, right?
Attached Files:
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Mamati, Apr 7, 2015

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@Mamati @Pit ... That solder jump seems to be " OEM Made " by mistake !!! ... cause it is good welded to both IC legs which can't be achieved with just dropping solder by mistake on the board ... you must give both legs a little heat before welding that good looking jump ... So I guess that is a defected MM covered by warranty ... and I guess you have applied solder to the wires from the other side of the MM so there is no chance to have such accident ...

Such a small drop of solder can freeze in the air ( edit: like these little guys in red marks )before landing between the legs like that ... Or gives a splash solder drop spot ... and where exactly is that ?

So it's a must to give us more photos of that defected MM please so we can preview the datasheet and confirm this case ... If you really willing to continue with more helpful support ...
keep up the good work

Last edited: Apr 7, 2015

speedy, Apr 7, 2015

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Mamati said: ↑

Pit, you are so kind to answer me.
I will use a half bridge (30A/60A)...thank you for the link.
For traction loss I am planning to use my one damaged mosfet MM. Are my wirings correct on the drawing attached?
And the middle leg of the third pot? to A2 on Arduino, right?
Click to expand...

If you use the damaged MM for TL than you have to wire it as a "normal" standard MotoMonster described in this thread on the first page.

Pit, Apr 7, 2015

#579
JRoque New Member SimAxe Beta Tester Gold Contributor

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Hello all!

Feature request for SMC3: adjustable slew rate for the "motion" function. Unless I'm doing something wrong, I see a very smooth motion profile being sent to the controller. This contrasts sharply with how game data shows. Being able to adjust the slew rate so very fast/sharp changes are sent to the motor will help tuning PID and find setup limitations.

Thanks!
JR

JRoque, Apr 8, 2015

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