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| name = SimuCUBE | | name = SimuCUBE | ||
| image=[[File:Simucube_photo.jpg|290px]] | | image=[[File:Simucube_photo.jpg|290px]] | ||
− | | modelno = SimuCUBE | + | | modelno = SimuCUBE |
− | | drivetype | + | | drivetype = Single axis motherboard for [[IONI]] drives |
− | | motors = AC, DC, BLDC, Stepper | + | | motors = AC, DC, BLDC, Linear, Stepper |
− | | controlmodes = Torque | + | | controlmodes = Position, Velocity, Torque |
− | | voltage= | + | | voltage= Same as [[IONI]] specifications |
| production = Active production, started 2016 | | production = Active production, started 2016 | ||
| agencies=CE (EMC & LVD directives) | | agencies=CE (EMC & LVD directives) | ||
| 3dmodel=TBA | | 3dmodel=TBA | ||
− | + | }}{{SimucubeManualNav|width=22em|notoc=1}} | |
− | }}{{SimucubeManualNav|width=22em|notoc=1}} | + | |
− | + | {{warning|This section is unfinished. Don't use until this notice is removed.}} | |
+ | ==External connectors== | ||
+ | {{picturebox|Simucube connectors.jpg|caption=Overview of external SimuCUBE connectors.}} | ||
− | + | ===Legend=== | |
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Color | ||
+ | |- | ||
+ | | class="powpin"|Supply pin | ||
+ | |- | ||
+ | | class="inpin"|Input pin | ||
+ | |- | ||
+ | | class="outpin"|Output pin | ||
+ | |} | ||
− | == | + | ===X1 - Motor & E-stop connector=== |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | == | + | {| class="wikitable" |
− | + | |- | |
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="outpin"| U / PH1|| Motor phase 1 | ||
+ | |- | ||
+ | | 2 ||class="outpin"| V / PH2|| Motor phase 2 | ||
+ | |- | ||
+ | | 3 ||class="outpin"| W / PH3|| Motor phase 3 | ||
+ | |- | ||
+ | | 4 ||class="outpin"| PH4|| Motor phase 4 | ||
+ | |- | ||
+ | | 5|| class="powpin"|GND || Ground voltage (0 V) of the SimuCUBE | ||
+ | |- | ||
+ | | 6|| class="inpin"|E-Stop / STO || External stop / Safe Torque Off input pin (active high) | ||
+ | |- | ||
+ | | 7|| class="powpin"|+5 V || 5 V supply voltage. | ||
+ | |} | ||
− | == | + | ===X16 - Motor position sensor connector=== |
− | + | A, B, and C indicate the quadrature encoder differential signals. | |
− | [[ | + | {| class="wikitable" |
− | [[ | + | |- |
+ | ! Pin # !! Pin name !! Electrical type (in most feedback device modes) | ||
+ | |- | ||
+ | | Shell||class="powpin"|GND||Earth / 0 V | ||
+ | |- | ||
+ | | 1||class="inpin"|HALL_W||Hall sensor digital input W | ||
+ | |- | ||
+ | | 2||class="inpin"|HALL_V||Hall sensor digital input V | ||
+ | |- | ||
+ | | 3||class="inpin"|HALL_U||Hall sensor digital input U | ||
+ | |- | ||
+ | | 4||class="powpin"|GND||Encoder supply ground / 0 V | ||
+ | |- | ||
+ | | 5||class="inpin"|B-||Encoder differential input B- | ||
+ | |- | ||
+ | | 6||class="inpin"|B+||Encoder differential input B+ | ||
+ | |- | ||
+ | | 7||class="inpin"|A-||Encoder differential input A- | ||
+ | |- | ||
+ | | 8||class="inpin"|A+||Encoder differential input A+ | ||
+ | |- | ||
+ | | 9|| class="powpin"|5V_OUT||Encoder supply +5 V output | ||
+ | |- | ||
+ | | 10|| class="powpin"|GND ||Encoder supply ground / 0 V | ||
+ | |- | ||
+ | | 11|| class="inpin"|GPI3|| IONI GPI3 input | ||
+ | |- | ||
+ | | 12|| class="inpin"|GPI2|| IONI GPI2 input | ||
+ | |- | ||
+ | | 13|| class="inpin"|GPI1|| IONI GPI1 input | ||
+ | |- | ||
+ | | 14|| class="inpin"|C-||Encoder differential input C- | ||
+ | |- | ||
+ | | 15||class="inpin"| C+||Encoder differential input C+ | ||
+ | |} | ||
+ | |||
+ | ===X12-upper=== | ||
+ | Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor. | ||
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 12|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| Button 7|| | ||
+ | |- | ||
+ | | 3 ||class="inpin"| Button 8|| | ||
+ | |- | ||
+ | | 4 ||class="inpin"| Button 9|| | ||
+ | |- | ||
+ | | 5 ||class="inpin"| Button 10|| | ||
+ | |- | ||
+ | | 6 ||class="inpin"| Button 6|| | ||
+ | |- | ||
+ | | 7 ||class="inpin"| Button 11|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
+ | |||
+ | ===X12-lower=== | ||
+ | Pin 1 is the left-most. These are active-low with an internal 3.3 kOhm pull-up resistor. | ||
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 3|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| Button 4|| | ||
+ | |- | ||
+ | | 3 ||class="inpin"| Button 2|| | ||
+ | |- | ||
+ | | 4 ||class="inpin"| Button 5|| | ||
+ | |- | ||
+ | | 5 ||class="inpin"| Button 13|| | ||
+ | |- | ||
+ | | 6 ||class="inpin"| Button 14|| | ||
+ | |- | ||
+ | | 7 ||class="inpin"| Button 15|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
+ | |||
+ | ===X11-upper=== | ||
+ | Pin 1 is the right-most. | ||
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| ADC12_IN9|| ADC input for brake pedal | ||
+ | |- | ||
+ | | 2 ||class="inpin"| ADC12_IN8|| ADC input for throttle pedal | ||
+ | |- | ||
+ | | 3 ||class="inpin"| ADC12_IN15|| ADC input | ||
+ | |- | ||
+ | | 4 ||class="powpin"| 5V_OUT|| +5 V supply | ||
+ | |- | ||
+ | | 5 ||class="inpin"| ADC12_IN4|| ADC input for clutch pedal | ||
+ | |- | ||
+ | | 6 ||class="inpin"| ADC12_IN7|| ADC input | ||
+ | |- | ||
+ | | 7 ||class="inpin"| HX711_CLKOUT|| | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
+ | |||
+ | ===RJ45-4 (bottom-right)=== | ||
+ | Pin 1 is the left-most. | ||
+ | {| class="wikitable" | ||
+ | |- | ||
+ | ! Pin number !! Signal name !! Usage | ||
+ | |- | ||
+ | | 1 ||class="inpin"| Button 16|| | ||
+ | |- | ||
+ | | 2 ||class="inpin"| ADC123_IN13|| ADC input | ||
+ | |- | ||
+ | | 3 ||class="inpin"| ADC123_IN3|| ADC input | ||
+ | |- | ||
+ | | 4 ||class="powpin"| 5V_OUT|| +5 V supply | ||
+ | |- | ||
+ | | 5 ||class="inpin"| ADC12_IN4 / DAC1|| ADC input / DAC output | ||
+ | |- | ||
+ | | 6 ||class="inpin"| ADC12_IN5 / DAC2|| ADC input / DAC output | ||
+ | |- | ||
+ | | 7 ||class="inpin"| ADC12_IN6|| ADC input | ||
+ | |- | ||
+ | | 8 ||class="powpin"| GND / 0 V|| | ||
+ | |} | ||
+ | |||
+ | ===USB Connectors=== | ||
+ | {| class ="wikitable" | ||
+ | |- | ||
+ | ! Connector !! Usage !! Notes | ||
+ | |- | ||
+ | | USB-1 || USB connector for the HID || | ||
+ | |- | ||
+ | | USB-2 || USB connector for the IONI || | ||
+ | |} | ||
+ | |||
+ | ==Wiring== | ||
+ | ===Basic wiring scheme=== | ||
+ | {{picturebox|Simucube basic wiring scheme.jpg|caption=SimuCUBE basic wiring scheme. Please see the motor position sensor table for the DB15 connector pinout.}} | ||
+ | ===RJ45 connectors=== | ||
+ | {{picturebox|Simucube rj45 wiring example.jpg|caption=Example of how to wire buttons and analog signals to SimuCUBE.}} | ||
+ | {{picturebox|Rj45 terminal block.jpg|caption=Easiest way to wire the rj45 connectors are through a terminal block adapter such as this.}} | ||
+ | |||
+ | ===Serial display=== | ||
+ | {{picturebox|Simucube serial display connector.jpg|caption=Pin header to connect a serial display.}} | ||
+ | ===Pin headers & other connectors=== | ||
+ | The SimuCUBE has few pin headers for future upgrades and features. These are reserved until future notice. | ||
+ | ==Configuration files== | ||
+ | Note: this is heavily work in progress. This section will be on separate page with more detailed step-by-step guide. | ||
+ | ===SimuCUBE firmware installation/upgrade=== | ||
+ | Please read the following guide, how to update the STM32F4 firmware. | ||
+ | :*[[Installing SimuCUBE firmware]] | ||
+ | |||
+ | ===SimuCUBE firmware files=== | ||
+ | |||
+ | {|class ="wikitable" | ||
+ | |- | ||
+ | ! FW version !! FW file !! Description/changes | ||
+ | |- | ||
+ | | || || | ||
+ | |} | ||
+ | |||
+ | ===IONI firmware=== | ||
+ | Read the following guide how to upgrade the IONI firmware: | ||
+ | |||
+ | :*[[Granity user guide/Uploading a firmware]] | ||
+ | |||
+ | The latest firmware can be found here: | ||
+ | |||
+ | :*[[IONI firmware releases]] | ||
+ | |||
+ | Note: SimuCUBE requires IONI firmware 1.5.0 beta or newer! Also be sure to use latest Granity version where you can choose Granity parameter {{param|CEI}} to be SimuCUBE. Choosing this mode is necessary to make IONI drive operate on SimuCUBE. | ||
+ | |||
+ | ===Motor configuration files for Granity (.drc)=== | ||
+ | If you have a working configuration file for a specific motor, we would like to add it here. | ||
+ | |||
+ | Note: the inertia of the wheel affects the motor tuning parameters, so a configuration file for a specific motor can only be regarded as an example. Please refer to the Servo tuning basics and tuning torque controller pages later in this document. | ||
+ | |||
+ | {| class ="wikitable" | ||
+ | |- | ||
+ | ! Motor name!! Motor model !! Notes !! Configuration file ||Contributor | ||
+ | |- | ||
+ | | Mige (small) || Mige 130ST-M10010 || 1 kW, 10 Nm (20 Nm peak) || file here someday || Granite Devices Inc. | ||
+ | |- | ||
+ | | Mige (large) || Mige 130ST-M15015 || 2.3 kW, 15 Nm (30 Nm peak) || file here someday || Granite Devices Inc. | ||
+ | |- | ||
+ | | Lenze || MCS12H15L || 1.6 kW, 11.4 Nm (29 Nm peak) || file here someday ||Granite Devices Inc. | ||
+ | |} | ||
+ | |||
+ | ==Links and miscellaneous notes== | ||
+ | If you are not using a ready configuration file for Granity, then please read servo tuning basics and torque tuning very carefully to get the idea how it's done. Every servo type requires specific parameters. | ||
+ | :* [[Servo tuning basics]] | ||
+ | :* [[Tuning torque controller]] | ||
+ | |||
+ | Please read also these pages to get the best possible experience of a SimuCUBE FFW system. | ||
+ | :* [[Granity]] | ||
+ | :* [[EMI suppression cores]] |