About SimuCUBE
| 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
Overview of external SimuCUBE connectors.
Legend
| Color |
|---|
| Supply pin |
| Input pin |
| Output pin |
X1 - 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
SimuCUBE basic wiring scheme. Please see the motor position sensor table for the DB15 connector pinout.
RJ45 connectors
Example of how to wire buttons and analog signals to SimuCUBE.
Easiest way to wire the rj45 connectors are through a terminal block adapter such as this.
Serial display
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.
SimuCUBE firmware files
| FW version | FW file | Description/changes |
|---|---|---|
IONI firmware
Read the following guide how to upgrade the IONI firmware:
The latest firmware can be found here:
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.
Please read also these pages to get the best possible experience of a SimuCUBE FFW system.
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