Difference between revisions of "About SimuCUBE"

Revision as of 11:42, 2 May 2016 (edit) Esa (Talk | contribs) (→‎RJ45-3 (top-right)) ← Older edit		Revision as of 12:38, 2 May 2016 (edit) (undo) Esa (Talk | contribs) Newer edit →
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	{{Infobox drive		{{Infobox drive
	| name = SimuCUBE		| name = SimuCUBE
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	| modelno = SimuCUBE		| modelno = SimuCUBE
	| drivetype          = Single axis motherboard for [[IONI]] drives		| drivetype          = Single axis motherboard for [[IONI]] drives

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Revision as of 12:38, 2 May 2016

SimuCUBE
Device type	Single axis motherboard for IONI drives
Model number	SimuCUBE
Supported motors	AC, DC, BLDC, Linear, Stepper
Control modes	Position, Velocity, Torque
Status	Active production, started 2016
Electrical
DC supply voltage	Same as IONI specifications
General
Compliance	CE (EMC & LVD directives)
3D model	TBA

This section is unfinished. Don't use until this notice is removed.

External connectors

Legend

Color
Supply pin
Input pin
Output pin

Motor & E-stop connector

Pin 1 is the left-most.

Pin number	Signal name	Usage
1	U / PH1	Motor phase 1
2	V / PH2	Motor phase 2
3	W / PH3	Motor phase 3
4	PH4	Motor phase 4
5	GND	Ground voltage (0 V) of the SimuCUBE
6	E-Stop / STO	External stop / Safe Torque Off input pin (active high)
7	+5 V	5 V supply voltage.

Motor position sensor connector

A, B, and C indicate the quadrature encoder differential signals.

Pin #	Pin name	Electrical type (in most feedback device modes)
Shell	GND	Earth / 0 V
1	HALL_W	Hall sensor digital input W
2	HALL_V	Hall sensor digital input V
3	HALL_U	Hall sensor digital input U
4	GND	Encoder supply ground / 0 V
5	B-	Encoder differential input B-
6	B+	Encoder differential input B+
7	A-	Encoder differential input A-
8	A+	Encoder differential input A+
9	5V_OUT	Encoder supply +5 V output
10	GND	Encoder supply ground / 0 V
11	GPI3	IONI GPI3 input
12	GPI2	IONI GPI2 input
13	GPI1	IONI GPI1 input
14	C-	Encoder differential input C-
15	C+	Encoder differential input C+

RJ45-1 (top-left)

Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.

Pin number	Signal name	Usage
1	Button 12
2	Button 7
3	Button 8
4	Button 9
5	Button 10
6	Button 6
7	Button 11
8	GND / 0 V

RJ45-2 (bottom-left)

Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.

Pin number	Signal name	Usage
1	Button 3
2	Button 4
3	Button 2
4	Button 5
5	Button 13
6	Button 14
7	Button 15
8	GND / 0 V

RJ45-3 (top-right)

Pin 1 is the left-most.

Pin number	Signal name	Usage
1	ADC12_IN9	ADC input for brake pedal
2	ADC12_IN8	ADC input for throttle pedal
3	ADC12_IN15	ADC input
4	5V_OUT	+5 V supply
5	ADC12_IN4	ADC input for clutch pedal
6	ADC12_IN7	ADC input
7	HX711_CLKOUT
8	GND / 0 V

RJ45-4 (bottom-right)

Pin 1 is the left-most.

Pin number	Signal name	Usage
1	Button 16
2	ADC123_IN13	ADC input
3	ADC123_IN3	ADC input
4	5V_OUT	+5 V supply
5	ADC12_IN4 / DAC1	ADC input / DAC output
6	ADC12_IN5 / DAC2	ADC input / DAC output
7	ADC12_IN6	ADC input
8	GND / 0 V

USB Connectors

Connector	Usage	Notes
USB-1	USB connector for the HID
USB-2	USB connector for the IONI

Wiring

Basic wiring scheme

RJ45 connectors

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

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 Electrical interfaceCEI 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.

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