The Control Table is a structure of data implemented in the device. The Control Table is a structure that consists of multiple Data fields to store status or to control the device. Users can check current status of the device by reading a specific Data from the Control Table with Read Instruction Packets. In order to read or write data, users must designate a specific Address in the Instruction Packet.
The Control Table is divided into 2 Areas. Please check the size of data when updating the data with an Instruction Packet. For data larger than 2 bytes will be saved according to Little Endian. The Control Table has two different access properties. Each data in the Control Table is restored to initial values when the device is turned on.
If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the device is turned on. Initial Values in the RAM area are restored when the device is turned on. USB Latency Setting. Drive Mode is available from the firmware V Thus, Goal Position , Present Position will have a inverted direction. This feature can be very useful when configuring symmetrical joint.
Beside, the profile generator and the data of determining the limit value will be reset either. See the next description for more details. It changes pulse width to control average supply voltage to the motor, and this technique is widely used in the motor control field.
NOTE : Present Position represents 4 byte continuous range from -2,,, to 2,,, when Torque is turned off regardless of Operating Mode However, Present Position will be reset to an absolute position value within one full rotation in following cases. Note that Present Position value that is reset to an absolute value can differ by the set Homing Offset 20 value. See the following Secondary ID 12 example to understand the address properly. NOTE : The protocol 2.
Accessing some of the Control Table area might be denied if protocol 1. This manual complies with protocol 2. Please refer to the Protocol 1. The Home Offset 20 adjusts the home position. The offest value is added to the Present Position See the Shutdown 63 for more detailed information.
Otherwise, it may cause severe damage in operating. For more details, please refer to the Shutdown 63 section. PWM Limit 36 is commonly used in all operating mode as an output limit, therefore decreasing PWM output will result in decreasing torque and velocity. For more details, please refer to the Gain section of each operating modes. The Current Limit 38 indicates maximum current torque output limit. Velocity Limit 44 indicates the maximum value of Goal Velocity For more details, see Goal Velocity Therefore, Goal Position should be configured within the position limit range.
The followings are detectable situations. For more details, please refer to the Homing Offset 20 and Present Position Below figure is a block diagram describing the velocity controller in Velocity Control Mode. Below figure is a block diagram describing the current-based position controller in Current-based Position Control Mode.
The differences are highlighted with a green marker in the block diagram as well. Note that the Goal Current can not be set larger than the Current Limit NOTE : Applying high current to the motor for long period of time might damage the motor.
Therefore, if supplying voltage changes, so does the maximum velocity. This manual complies with recommended supply voltage 12[V]. When the Drive Mode 10 is Time-based Profile , Profile Velocity sets the time span to reach the velocity the total time of the Profile. The TurtleBot can run SLAM simultaneous localization and mapping algorithms to build a map and can drive around your room. Also, it can be controlled remotely from a laptop, joypad or Android-based smart phone.
Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and navigation capabilities that the TurtleBot3 has.
The most important part of this TurtleBot3 collaboration project is open source based software, hardware, and content. We are encouraging more partners and research collaborators to participate in this project to enrich the robotics field. If you are interested in partnership with us to realize open source robotics, please fill out form here. TurtleBot3 Providers. TurtleBot3 Partners and Research Collaborators.
TurtleBot3 Distributors. Task 2. Motion 2. X Series. Arduino IDE. Display LED Module. Overview 1. Notices 1. Features 2. Specifications 2. Components 3. Quick Start Guide 3.
PC Setup 3. SBC Setup 3. OpenCR Setup 3. Hardware Assembly 3. Bringup 3. Basic Operation - Teleoperation - Topic Monitor 4. SLAM 4. Run Teleoperation Node 4. Tuning Guide 4. Save Map 4. Map 5. Navigation 5. Run Navigation Nodes 5. Estimate Initial Pose 5. Set Navigation Goal 5.
Select Scan from the left column menu to display scan options. Select Protocol Type, communication ports, baudrates, and the range of ID to scan. Click OK to confirm the selection. NOTE : If Open failed is shown up, please check whether communication port is connected at the Main Toolbar or not, then button Disconnect to avoid port collision.
Select a group or device to run the test. Select Goal Position or Goal Velocity item in the control table in the middle column. Select Graph from the left column menu to display scan options. Double-click a color of a item to call Read Item Settings box. Scale: When a certain number is set, a value of selected item of y-axis represents the value multiplied of item by the scale.
Offset: It adds Offset to a selected item. Use the option to separate overlapped items on the graph such as Present Position and Goal Position. Smaller interval will display refined graph. Click Start button in the graph window to start plotting data. After start plotting, enable Torque first then change Goal Position to see how Present Position data is plotted in real time.
Set the communication port and baudrate then click Open to open the port. Select Protocol Type and instruction to use. In this example, Write instruction for Protocol Type 2. Specific data can be written on the instuction as shown below. Assembled packet can be found at Packet Details section in the bottom of packet window.
Transmit the assembled packet with Send button. When positioning a mouse cursor on its model name, Firmware update is available will be shown up. Firmware update will begin with a breif instruction. Click Next to begin firmware update. Firmware recovery will begin with a breif instruction. Selecting wrong model can cause malfunction or serious hardware damage. If the port is in use, it has to be released first. For more details, watch a tutorial video above or read through the following instructions.
0コメント