Difference between revisions of "About SimuCUBE"

Revision as of 09:25, 12 May 2016 (edit) Esa (Talk | contribs) (→‎External connectors) ← Older edit		Latest revision as of 21:12, 4 March 2018 (edit) (undo) Mtakala (Talk | contribs) m
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	| name = SimuCUBE		| name = SimuCUBE
	| image=[[File:Simucube_photo.jpg|290px]]		| image=[[File:Simucube_photo.jpg|290px]]
−	| modelno = SimuCUBE	+	| modelno = SimuCUBE 1R004
−	| drivetype         = Single axis motherboard for [[IONI]] drives	+	| drivetype = Single axis motherboard for [[IONI]] drives with force feedback functionality
−	| motors = AC, DC, BLDC, Linear, Stepper	+	| motors = AC, DC, BLDC, Stepper
−	| controlmodes = Position, Velocity, Torque	+	| controlmodes = Torque control
−	| voltage= Same as [[IONI]] specifications	+	| voltage= 20 - 49  VDC
	| 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}}	+	| url=[https://granitedevices.com/simucube-simulator-force-feedback-controller/ SimuCUBE]
		+	}}{{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.
−	{{warning|This section is unfinished. Don't use until this notice is removed.}}	+	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.
−	==External connectors==	+
−	{{picturebox|Simucube connectors.jpg|caption=Overview of external SimuCUBE connectors.}}	+
−	===Legend===	+	To browser detailed information, please refer to the SimuCUBE pages, located on the right side of this page.
−	{| class="wikitable"	+
−	|-	+
−	! Color	+
−	|-	+
−	| class="powpin"|Supply pin	+
−	|-	+
−	| class="inpin"|Input pin	+
−	|-	+
−	| class="outpin"|Output pin	+
−	|}	+
−	===Motor & E-stop connector===	+	==How SimuCUBE helps simulator builds==
−	Pin 1 is the left-most.	+	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:
		+	* Modular design: SimuCUBE is a motherboard with force feedback controller where [[IONI Servo & Stepper Drive]] plugs in as a motor driver
		+	* Drive motors up to 30 Nm torque
		+	* High fidelity feedback achieved by real-time force effect generation on hardware
		+	* Eased installation
		+	** Single 20 - 49 V DC supply (switching and linear power supply compatible)
		+	** Direct USB connectivity (USB HID game controller device with Microsoft DirectInput compatibility)
		+	** Connect external pedals, buttons and levers to the four on-board RJ45 connectors
		+	* Modern acrylic enclosures for SimuCUBE are readily available
		+	* Allow customer specific extensions due to open source hardware and firmware
		+	For further introduction, see [https://granitedevices.com/simucube-simulator-force-feedback-controller/ SimuCUBE product page].
−	{| class="wikitable"	+	==Availability==
−	|-	+	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.
−	!  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.	+
−	|}	+
−	===Motor position sensor connector===	+
−	A, B, and C indicate the quadrature encoder differential signals.	+
−	{| class="wikitable"	+	== Safety information ==
−	|-	+	Read the following info box carefully:{{simucubewarnings}}
−	! 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+	+
−	|}	+
−		+
−	===RJ45-1 (top-left)===	+
−	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||	+
−	|}	+
−		+
−	===RJ45-2 (bottom-left)===	+
−	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 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||	+
−	|}	+
−		+
−	===RJ45-3 (top-right)===	+
−	Pin 1 is the left-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]]	+
	[[Category:SimuCUBE]]		[[Category:SimuCUBE]]
		+	[[Category:SimuCUBE_user_guide]]

---

Latest revision as of 21:12, 4 March 2018

SimuCUBE
Device type	Single axis motherboard for IONI drives with force feedback functionality
Model number	SimuCUBE 1R004
Supported motors	AC, DC, BLDC, Stepper
Control modes	Torque control
Status	Active production, started 2016
Electrical
DC supply voltage	20 - 49 VDC
General
Web site	SimuCUBE
Compliance	CE (EMC & LVD directives)
3D model	TBA

SimuCUBE documentation

---

SimuCUBE main board information

• About SimuCUBE
• Technical specifications
• List of hardware needed
• Connector pinouts and wiring
• LED status indicators

SimuCUBE acrylic enclosures

• Assembling SimuCUBE 320W kit
• Assembling SimuCUBE 480W/720W kit

SimuCUBE install guide

• PART 0: Overview
• PART 1: Connecting motor
• PART 2: Motor configuration
• PART 3: Installing firmware
• PART 4: Connecting pedals and buttons

Extra information

• Troubleshooting
• Glossary

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.

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.

To browser detailed information, please refer to the SimuCUBE pages, located on the right side of this page.

How SimuCUBE helps simulator builds[edit | edit source]

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:

• Modular design: SimuCUBE is a motherboard with force feedback controller where IONI Servo & Stepper Drive plugs in as a motor driver
• Drive motors up to 30 Nm torque
• High fidelity feedback achieved by real-time force effect generation on hardware
• Eased installation
  • Single 20 - 49 V DC supply (switching and linear power supply compatible)
  • Direct USB connectivity (USB HID game controller device with Microsoft DirectInput compatibility)
  • Connect external pedals, buttons and levers to the four on-board RJ45 connectors
• Modern acrylic enclosures for SimuCUBE are readily available
• Allow customer specific extensions due to open source hardware and firmware

For further introduction, see SimuCUBE product page.

Availability[edit | edit source]

See SimuCUBE web store page for the current stock status, pricing and ordering.

Safety information[edit | edit source]

Read the following info box carefully:

SimuCUBE based Force feedback system (FFB) pose high mechanical danger that may cause serious injuries to living beings, cause damage to external property or loss of profits. Always operate SimuCUBE based system with maximal caution. Beware of very high sudden torques or vibrations produced by motor attached to SimuCUBE - these are expected even in normal operating conditions Be aware that malfunction of misconfiguration may cause uncontrolled or higher than normal motor rotation or torques End-user's responsibility is to ensure that motor, or items connected to the motor can not cause damage due to rotation, torque or vibration Always be ready to let go from the motor or parts connected to it (i.e. take hands off the simulator wheel) Make sure that a reliable stopping method is available and user reachable at all times (reliable method: unplugging AC power). Note that unplugging power might not stop motor immediately. Do not try to stop spinning motor by hands or other mechanical means Note that wheel, cables or other items attached to motor may hit objects or living beings and may have damaging effects. User's responsibility is to control this danger and take responsibility of the possible consequences caused by moving items. Ensure that motor has been rigidly fixed to avoid it getting loose under extreme vibrations Understand that the responsibilities of the manufacturer of the SimuCUBE are limited to fulfilling the technical specifications and functions of the device. The technical function includes production of high torques and speeds on a large motor. Understand that spinning motor or high torques produced by it are considered operation within specifications, so potential damages caused by such operation are not within liabilities of the manufacturer. Commonly used motors may exceed torque of 30 Newton meters and rotation speed of 1000 rpm when attached to SimuCUBE Due to high electric currents, motor, cables or IONI drive may get dangerously hot (skin burns, fire hazard) For your own safety, do not operate SimuCUBE if you don't understand these dangers