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Thanos Direct Drive

Discussion in 'Direct Drive Wheels' started by Gadget999, Jun 5, 2020.

  1. Gadget999

    Gadget999 Well-Known Member

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    Finally the board has arrived after getting stuck at the airport for nearly a month !

    Pic attached, you can see it is neat and smaller than the disco board.

    I will map the pinout to fit the mige servo driver and take it from there

    Cant wait to get it working

    Attached Files:

    • Like Like x 1
  2. Gadget999

    Gadget999 Well-Known Member

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    @Thanos

    can you confirm that these pins are the same as the D25 connector that is the output on your board

    are all pins used ?


    1 GND
    2 PV pulse input
    3 PP+ port
    4 PD+
    5 PD-
    6 sig in 1
    7 sig in 2
    8 sig in 4
    9 DC 12-24v
    10 COM / GND
    11 sig out 1
    12 sig out 3
    13 AGND Analogue Gnd
    14 PP-
    15 PZ+
    16 PZ-
    17 PB-
    18 PB+ encoder output
    19 PA- encoder output
    20 PA+ encoder output
    21 sig in 3
    22 OZ
    23 sig out 2
    24 sig out 4
    25 Vref +/-10V'
    • Funny Funny x 1
  3. Thanos

    Thanos Building the Future one AC Servo at a time... or 6

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    My Motion Simulator:
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    No, you only need these:

    TDD_DB25.JPG

    Thanks
    Thanos
    • Informative Informative x 1
  4. Gadget999

    Gadget999 Well-Known Member

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    what is the EN pin ?

    is it gnd for the direction pin ?

    Edit - the EN pin is to enable the motion

    @Thanos

    How does the torque signal/voltage work

    Is it 0-5 v ?
    Last edited: Jul 6, 2020
  5. Thanos

    Thanos Building the Future one AC Servo at a time... or 6

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    My Motion Simulator:
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    The Torque signal is 0-3.3v analog voltage from the DAC. Its using the DIR pin to determine the direction of the Torque.
    • Like Like x 1
  6. Gadget999

    Gadget999 Well-Known Member

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    Last edited: Jul 22, 2020
  7. Gadget999

    Gadget999 Well-Known Member

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    My Motion Simulator:
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    i have the TDD board installed and powered up the direction LEDS are worlking as i turn the wheel and the torque pin25 is outputting a voltage

    should I have the servo driver in position mode or torque mode ?
  8. OZHEAT

    OZHEAT Active Member

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    torque mode
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  9. OZHEAT

    OZHEAT Active Member

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    @Gadget999
    I will try to help you setup your drive, it will be different to the AASD.
    I am looking at the parameter setup to reconfig your Di for direction.
  10. Gadget999

    Gadget999 Well-Known Member

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    thank you @OZHEAT - it is very much appreciated
  11. OZHEAT

    OZHEAT Active Member

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    TD_DB25.png

    NOTE EN should be pin 12 and DIR should connect to pin 11 on CN1 servo drive
    Last edited: Jul 22, 2020
  12. OZHEAT

    OZHEAT Active Member

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    connect as pic and will see if you can at least enable servo first.
    need to know whether you need can use 5v to enable inputs
    might be easier if you do away with the TDD board and connect directly to the STM32 board
  13. OZHEAT

    OZHEAT Active Member

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    parameter P3-1 (Digital Input D12 Function) set to 9 (CINV) Instruction reverse.
  14. OZHEAT

    OZHEAT Active Member

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    Can you measure with multimeter if PIN 10 on servo drive CN1 has 24VDC on it or is it open?
  15. Gadget999

    Gadget999 Well-Known Member

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    ok i have wired as you suggested and set --

    parameter P3-1 (Digital Input D12 Function) set to 9 (CINV) Instruction reverse.


    the voltage from pin 10 is 1.67 volts
  16. OZHEAT

    OZHEAT Active Member

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    @Gadget999

    Ok connect +5v from TDD to P10 on your servo drive CN1
    You should be able to drive your servo now.
    Do you need help with the other parameters such as speed limit, torque max power etc as well?
  17. Thanos

    Thanos Building the Future one AC Servo at a time... or 6

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    My Motion Simulator:
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    here are the parameters I used for TDD with the DAC function:
    PN002 = 0 (control mode - voltage mode, requires restart)
    PN003 = 0 ( Servo enabled? - external)
    PN018 = 0 (Take the encoder output pulse AB phase logic - 0-1)
    PN051 = 1500 (Motor max RPM - see motor specs)
    PN053 = 18 (SigIn 2 port functional allocation -27 - 27)
    PN188 = 10 (Analog torque instruction smooth filtering time - 1-500ms)
    PN189 = 100 (Analog torque instruction gain 1-300 %/V)
    PN190 = -100 (Analog torque instruction offset adjustment -1.5v - 1.5v)
    PN191 = 0 (Simulation of torque command direction - try 0 first)
    PN198 = 500 (Torque control speed limit - 0-4500rpm)

    IMG_20200722_085116.jpg

    Thanks
    Thanos
  18. Thanos

    Thanos Building the Future one AC Servo at a time... or 6

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    just noticed, you are using Mige servo drive... not sure for the parameters on that.
  19. OZHEAT

    OZHEAT Active Member

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    @Gadget999
    Sorry I told you the wrong parameter to set

    parameter P3-2 (Digital Input DI3 Function) set to 9 (CINV) Instruction reverse.

    Set back parameter P3-1 (Digital Input DI2 Function) set to 2 (ARST) alarm reset (default)

    Lol I also gave you the wrong pins:rolleyes:
    connect EN to 12 on CN1(servo enable DI1)
    and DIR to 11 on CN1(CINV DI3)
    DI2 can stay to as Alarm reset if you want to connect button
    Last edited: Jul 22, 2020
  20. Gadget999

    Gadget999 Well-Known Member

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    ok that seemd to help

    the servo is now braking - crikey its got some power !

    turning the wheel clockwise there is a lot of resistance

    anti clockwise there is almost no resistance

    also the usb device seems to fail

    i will try wiring the pin 10 to a 12v power supply and report back