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{{Infobox drive
 
{{Infobox drive
 
| name = SimuCUBE
 
| name = SimuCUBE
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| image=[[File:Simucube_photo.jpg|290px]]
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| image=[[File:Simucube photo.JPG|290px]]
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| modelno = SimuCUBE 1R004
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| modelno = SimuCUBE
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| drivetype = Single axis motherboard for [[IONI]] drives with force feedback functionality
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| drivetype         = Single axis motherboard for [[IONI]] drives
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| motors = AC, DC, BLDC, Stepper
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| motors = AC, DC, BLDC, Linear, Stepper
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| controlmodes = Torque control
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| controlmodes = Position, Velocity, Torque
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| voltage= 20 - 49  VDC
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| 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
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| url=[https://granitedevices.com/simucube-simulator-force-feedback-controller/ SimuCUBE]
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}}
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}}{{SimucubeManualNav|width=22em|notoc=1}}[[File:Simucube chart.png|thumb|Simplified chart of a SimuCUBE FFB simulator setup.|400px]]SimuCUBE is a complete simulator force feedback controller for single motorized actuator such as a steering wheel or a force feedback lever. Typical SimuCUBE applications include vehicle and equipment simulators.
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SimuCUBE is is a modular device where motor is being controlled by an [[IONI Servo & Stepper Drive]] (sold separately) and torque [[Setpoint]] generation is being done by on-board dedicated 32 bit ARM microcontroller.
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{{warning|This section is unfinished. Don't use until this notice is removed.}}
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==External connectors==
 +
{{picturebox|Simucube connectors.jpg|caption=Overview of external SimuCUBE connectors.}}
  
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To browser detailed information, please refer to the SimuCUBE pages, located on the right side of this page.
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===Legend===
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{| class="wikitable"
 +
|-
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! Color
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|-
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| class="powpin"|Supply pin
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|-
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| class="inpin"|Input pin
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|-
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| class="outpin"|Output pin
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|}
  
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==How SimuCUBE helps simulator builds==
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===Motor & E-stop connector===
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The main function SimuCUBE is to aid implementing [[Force feedback system (FFB)]] such as simulator steering wheel or other motorized actuator. SimuCUBE main contributions in this area are:
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Pin 1 is the left-most.
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* Modular design: SimuCUBE is a motherboard with force feedback controller where [[IONI Servo & Stepper Drive]] plugs in as a motor driver
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* Drive motors up to 30 Nm torque
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* High fidelity feedback achieved by real-time force effect generation on hardware
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* Eased installation
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** Single 20 - 49 V DC supply (switching and linear power supply compatible)
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** Direct USB connectivity (USB HID game controller device with Microsoft DirectInput compatibility)
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** Connect external pedals, buttons and levers to the four on-board RJ45 connectors
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* Modern acrylic enclosures for SimuCUBE are readily available
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* Allow customer specific extensions due to open source hardware and firmware
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For further introduction, see [https://granitedevices.com/simucube-simulator-force-feedback-controller/ SimuCUBE product page].  
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==Availability==
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{| class="wikitable"
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See [https://granitedevices.com/store/applications/simulators/simucube-force-feedback-controller-board.html SimuCUBE web store page] for the current stock status, pricing and ordering.
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|-
 +
!  Pin number !! Signal name !! Usage
 +
|-
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| 1 ||class="outpin"| U / PH1|| Motor phase 1
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|-
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| 2 ||class="outpin"| V / PH2|| Motor phase 2
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|-
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| 3 ||class="outpin"| W / PH3|| Motor phase 3
 +
|-
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| 4 ||class="outpin"| PH4|| Motor phase 4
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|-
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| 5|| class="powpin"|GND || Ground voltage (0 V) of the SimuCUBE
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|-
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| 6|| class="inpin"|E-Stop / STO || External stop / Safe Torque Off input pin (active high)
 +
|-
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| 7|| class="powpin"|+5 V || 5 V supply voltage.
 +
|}
 +
===Motor position sensor connector===
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A, B, and C indicate the quadrature encoder differential signals.
  
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== Safety information ==
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{| class="wikitable"
−
Read the following info box carefully:{{simucubewarnings}}
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|-
 +
! Pin # !! Pin name !! Electrical type (in most feedback device modes)
 +
|-
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| Shell||class="powpin"|GND||Earth / 0 V
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|-
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| 1||class="inpin"|HALL_W||Hall sensor digital input W
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|-
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| 2||class="inpin"|HALL_V||Hall sensor digital input V
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|-
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| 3||class="inpin"|HALL_U||Hall sensor digital input U
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|-
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| 4||class="powpin"|GND||Encoder supply ground / 0 V
 +
|-
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| 5||class="inpin"|B-||Encoder differential input B-
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|-
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| 6||class="inpin"|B+||Encoder differential input B+
 +
|-
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| 7||class="inpin"|A-||Encoder differential input A-
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|-
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| 8||class="inpin"|A+||Encoder differential input A+
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|-
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| 9|| class="powpin"|5V_OUT||Encoder supply +5 V output
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|-
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| 10|| class="powpin"|GND ||Encoder supply ground / 0 V
 +
|-
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| 11|| class="inpin"|GPI3|| IONI GPI3 input
 +
|-
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| 12|| class="inpin"|GPI2|| IONI GPI2 input
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|-
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| 13|| class="inpin"|GPI1|| IONI GPI1 input
 +
|-
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| 14|| class="inpin"|C-||Encoder differential input C-
 +
|-
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| 15||class="inpin"| C+||Encoder differential input C+
 +
|}
  
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[[Category:SimuCUBE]]
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===RJ45-1 (top-left)===
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[[Category:SimuCUBE_user_guide]]
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Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.
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{| class="wikitable"
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|-
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!  Pin number !! Signal name !! Usage
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|-
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| 1 ||class="inpin"| Button 12||
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|-
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| 2 ||class="inpin"| Button 7||
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|-
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| 3 ||class="inpin"| Button 8||
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|-
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| 4 ||class="inpin"| Button 9||
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|-
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| 5 ||class="inpin"| Button 10||
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|-
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| 6 ||class="inpin"| Button 6||
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|-
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| 7 ||class="inpin"| Button 11||
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|-
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| 8 ||class="powpin"| GND / 0 V||
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|}
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 +
===RJ45-2 (bottom-left)===
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Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.
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{| class="wikitable"
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|-
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!  Pin number !! Signal name !! Usage
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|-
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| 1 ||class="inpin"| Button 3||
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|-
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| 2 ||class="inpin"| Button 4||
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|-
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| 3 ||class="inpin"| Button 2||
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|-
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| 4 ||class="inpin"| Button 5||
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|-
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| 5 ||class="inpin"| Button 13||
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|-
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| 6 ||class="inpin"| Button 14||
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|-
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| 7 ||class="inpin"| Button 15||
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|-
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| 8 ||class="powpin"| GND / 0 V||
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|}
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 +
===RJ45-3 (top-right)===
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Pin 1 is the left-most.
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{| class="wikitable"
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|-
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!  Pin number !! Signal name !! Usage
 +
|-
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| 1 ||class="inpin"| Brake|| ADC input for brake pedal
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|-
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| 2 ||class="inpin"| Throttle|| ADC input for throttle pedal
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|-
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| 3 ||class="inpin"| ADC-14|| ADC input
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|-
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| 4 ||class="powpin"| 5V_OUT|| +5 V supply
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|-
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| 5 ||class="inpin"| Clutch|| ADC input for clutch pedal
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|-
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| 6 ||class="inpin"| ADC-7|| ADC input
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|-
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| 7 ||class="inpin"| CLK_OUT||
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|-
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| 8 ||class="powpin"| GND / 0 V||
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|}
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 +
===RJ45-4 (bottom-right)===
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Pin 1 is the left-most.
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{| class="wikitable"
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|-
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!  Pin number !! Signal name !! Usage
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|-
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| 1 ||class="inpin"| Button 16||
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|-
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| 2 ||class="inpin"| ADC-13||  ADC input
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|-
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| 3 ||class="inpin"| ADC-3|| ADC input
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|-
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| 4 ||class="powpin"| 5V_OUT|| +5 V supply
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|-
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| 5 ||class="inpin"| DAC-1||
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|-
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| 6 ||class="inpin"| DAC-2||
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|-
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| 7 ||class="inpin"| ADC-6|| ADC input
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|-
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| 8 ||class="powpin"| GND / 0 V||
 +
|}
 +
 
 +
===USB Connectors===
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{| class ="wikitable"
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|-
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!  Connector !! Usage !! Notes
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|-
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| USB-1 || USB connector for the HID ||
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|-
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| USB-2 || USB connector for the IONI ||
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|}
 +
 
 +
==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.}}
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===RJ45 connectors===
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{{picturebox|Simucube rj45 wiring example.jpg|caption=Example of how to wire buttons and analog signals to SimuCUBE.}}
 +
===Serial display===
 +
{{picturebox|Simucube serial display connector.jpg|caption=Pin header to connect a serial display.}}
 +
===Pin headers & other connectors===
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The SimuCUBE has few pin headers for future upgrades and features. These are reserved until future notice.
 +
==Configuration files==
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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===
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Please read the following guide, how to update the STM32F4 firmware.
 +
:*[[Installing SimuCUBE firmware]]
 +
 
 +
===SimuCUBE firmware files===
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 +
{|class ="wikitable"
 +
|-
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! FW version !! FW file !! Description/changes
 +
|-
 +
| || ||
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|}
 +
 
 +
===IONI firmware===
 +
Read the following guide how to upgrade the IONI firmware:
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:*[[Granity user guide/Uploading a firmware]]
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 +
The latest firmware can be found here:
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:*[[IONI firmware releases]]
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 +
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.
 +
|-
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| Mige (large) || Mige 130ST-M15015 || 2.3 kW, 15 Nm (30 Nm peak) || file here someday || Granite Devices Inc.
 +
|-
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| 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]]

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