About SimuCUBE

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SimuCUBE
Simucube photo.jpg
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


External connectors

Simucube connectors.jpg

Overview of external SimuCUBE 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

Simucube basic wiring scheme.jpg

SimuCUBE basic wiring scheme. Please see the motor position sensor table for the DB15 connector pinout.

RJ45 connectors

Simucube rj45 wiring example.jpg

Example of how to wire buttons and analog signals to SimuCUBE.

Rj45 terminal block.jpg

Easiest way to wire the rj45 connectors are through a terminal block adapter such as this.

Serial display

Simucube serial display connector.jpg

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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