1065 User Guide - Revision history

Mparadis at 14:26, 9 May 2018

2018-05-09T14:26:36Z

← Older revision		Revision as of 14:26, 9 May 2018
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			__NOINDEX__
	[[Category:UserGuide]]		[[Category:UserGuide]]
	{{UserguideTOC\|1065.jpg\|1065}}		{{UserguideTOC\|1065.jpg\|1065}}

Mparadis: /* API */

2015-01-19T17:01:12Z

API

← Older revision		Revision as of 17:01, 19 January 2015
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	{{UGapi\|double Acceleration (int MotorIndex) [get,set]		{{UGapi\|double Acceleration (int MotorIndex) [get,set]
	\|Returns how fast a motor will be accelerated between given velocities. The valid range is between AccelerationMax and AccelerationMin. Acceleration is in %(~~change in velocity~~)/s².		\|Returns how fast a motor will be accelerated between given velocities. The valid range is between AccelerationMax and AccelerationMin. Acceleration is in %(duty cycle)/s.
	}}		}}

	{{UGapi\|double AccelerationMax (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 6250%/s²		{{UGapi\|double AccelerationMax (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 6250% Duty Cycle/s
	\|Returns the maximum acceleration that a motor will accept, or return, in %(~~change in velocity~~)/s².		\|Returns the maximum acceleration that a motor will accept, or return, in %(duty cycle)/s.
	}}		}}

	{{UGapi\|double AccelerationMin (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 24.51%/s²		{{UGapi\|double AccelerationMin (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 24.51% Duty Cycle/s
	\|Returns the minimum acceleration that a motor will accept, or return, in %(~~change in velocity~~)/s².		\|Returns the minimum acceleration that a motor will accept, or return, in %(duty cycle)/s.
	}}		}}

Mparadis: /* Technical Details */

2013-03-26T14:14:04Z

Technical Details

← Older revision		Revision as of 14:14, 26 March 2013
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	==Technical Details==		==Technical Details==

			===Connections===

			The ports and terminal blocks on this board are labelled on the underside to save space:

			[[File:1065_0_Under.jpg\|link=\|400px]]

			===Further Reading===

	For more information on the analog inputs on the 1065, check the [[Analog Input Primer]].		For more information on the analog inputs on the 1065, check the [[Analog Input Primer]].

Mparadis: /* Events */

2013-02-28T16:16:00Z

Events

← Older revision		Revision as of 16:16, 28 February 2013
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	::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_BADPOWER''' - The supply voltage is too low or too high. This is thrown if the voltage is <nowiki><=7V, or >=34V</nowiki>. There are several different messages depending on how far out of spec the voltage is. Quick load/velocity changes can cause spike in the supply voltage - if these spikes exceed 40V, the motor is automatically placed in 100% braking - braking ends when the supply voltage falls to <38V. When error states have ended, there will be an error event with the EEPHIDGET_OK code.See the ErrorDescription string for specific error details.		::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_BADPOWER''' - The supply voltage is too low or too high. This is thrown if the voltage is <nowiki><=7V, or >=34V</nowiki>. There are several different messages depending on how far out of spec the voltage is. Quick load/velocity changes can cause spike in the supply voltage - if these spikes exceed 40V, the motor is automatically placed in 100% braking - braking ends when the supply voltage falls to <38V. When error states have ended, there will be an error event with the EEPHIDGET_OK code.See the ErrorDescription string for specific error details.
	}}		}}

			<span style="color:#ff0000">'''C and .NET based APIs only:'''</span>

			{{UGapi\|OnIndexChange(int EncoderIndex, int IndexPosition) [event]
			\|An event that is issued whenever there is a pulse on the index pin. (Note: Many encoders do not support the index channel and leave the index pin unconnected)
			}}

	==Product History==		==Product History==
	{{UGhist}}		{{UGhist}}
	{{UGrow\|June 2011\|0\|100\|Product Release}}		{{UGrow\|June 2011\|0\|100\|Product Release}}
	{{UGrow\|June 2011\|0\|101\|getLabelString fixed for labels longer than 7 characters}}		{{UGrow\|June 2011\|0\|101\|getLabelString fixed for labels longer than 7 characters}}

Mparadis: /* Product History */

2012-11-27T18:16:20Z

Product History

← Older revision		Revision as of 18:16, 27 November 2012
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	{{UGhist}}		{{UGhist}}
	{{UGrow\|June 2011\|0\|100\|Product Release}}		{{UGrow\|June 2011\|0\|100\|Product Release}}
			{{UGrow\|June 2011\|0\|101\|getLabelString fixed for labels longer than 7 characters}}

Burley at 15:22, 10 August 2012

2012-08-10T15:22:02Z

← Older revision		Revision as of 15:22, 10 August 2012
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	[[Category:UserGuide]]		[[Category:UserGuide]]
			{{UserguideTOC\|1065.jpg\|1065}}
	==Getting Started==		==Getting Started==

Mparadis: Created page with "Category:UserGuide ==Getting Started== ===Checking the Contents=== {{UGbox| '''You should have received:''' * A PhidgetMotorControl 1-Motor * A Mini-USB cable | '''In or..."

2012-07-24T21:25:16Z

Created page with "Category:UserGuide ==Getting Started== ===Checking the Contents=== {{UGbox| '''You should have received:''' * A PhidgetMotorControl 1-Motor * A Mini-USB cable | '''In or..."

New page

[[Category:UserGuide]]

==Getting Started==

===Checking the Contents===
{{UGbox|
'''You should have received:'''
* A PhidgetMotorControl 1-Motor
* A Mini-USB cable
|
'''In order to test your new Phidget you will also need:'''
* A 9 to 28VDC power supply (If using the barrel jack, ensure your power supply is '''center-positive''' polarity)
* A DC motor with integrated encoder
* An Analog Sensor (we are using an a temperature sensor)
* A piece of wire to test the digital inputs
||}}

===Connecting the Pieces===
{{UGbox|
# Connect the Motor to the PhidgetMotorControl
# Connect the Encoder
# Plug in a power supply using the barrel connector.
# You can also connect a power supply to the Terminal Block. Be sure to observe correct polarity.
# Connect your sensor to an analog input. We are using a Phidget Slider-60.
# Connect one end of the wire to the Ground connector and the other end to connector 0.
# Connect the MotorControl to your computer using the USB cable.
|
[[File:1065_0_Connecting_The_Hardware.jpg|400px|link=]]
||}}

===Testing Using Windows 2000 / XP / Vista / 7===

{{UGwin}}

===Running Phidgets Sample Program===

{{UGwin2|'''MotorControl-full'''}}

{{UGbox|
Double Click on the [[File:Ph.jpg|link=]] icon to activate the Phidget Control Panel and make sure that the '''Phidget Motor Controller 1-Motor''' is properly attached to your PC.
|[[File:1065_0_Control_Panel_Screen.jpg|400px|link=]]
|
#Double Click on '''Phidget Motor Controller 1-Motor''' in the Phidget Control Panel to bring up MotorControl-full and check that the box labelled Attached contains the word True.
# Move the target velocity slider to a target velocity setting. The Current Velocity is displayed in the Current Velocity Box. The motor will accelerate until the current velocity is equal to the target velocity.
# You can change the acceleration by using the acceleration slider.
# Turn On Back EMF Sensing.
# When the motor is stopped, you can create some shaft resistance by using the braking slider.
# Test the digital input by disconnecting the wire end connected to the digital input connector. The tick mark in the box will go away.
# You can read the Encoder Position and reset it to 0 by clicking on the Reset button.
# The sensors box displays the SensorValue of the Analog Inputs. Click on the Ratiometric box if your sensor is ratiometric.
|[[File:1065_0_Motor_Control_Screen.jpg|400px|link=]]
}}

===Testing Using Mac OS X===

{{UGmac|Phidget MorotControl 1-Motor|MotorControl-full}}

===Using Linux===

{{UGlinux}}

===Using Windows Mobile / CE 5.0 / CE 6.0===

{{UGce}}

==Technical Details==

For more information on the analog inputs on the 1065, check the [[Analog Input Primer]].

For more information about encoders, check the [[Encoder Primer]].

For more information about DC motors and how to control them, check the [[DC Motor and Controller Primer]].

==API==
{{UGapih}}

===Functions===

{{UGapi|int MotorCount() [get] : Constant <nowiki>=</nowiki> 1
|Returns the number of Motors that can be controlled by this PhidgetMotorControl.
}}

{{UGapi|double Velocity (int MotorIndex) [get,set]
|Velocity is the percentage of time the motor is being powered for. The PhidgetMotorControl rapidly switches power to the motor on/off. Velocity can be set between –100 and +100. –100 corresponds to the motor being driven 100% of the time in reverse, +100 driven 100% of the time forward. When velocity is 0, the motor is controlled by the Braking property, which defaults to 0%.
}}

{{UGapi|double Acceleration (int MotorIndex) [get,set]
|Returns how fast a motor will be accelerated between given velocities. The valid range is between AccelerationMax and AccelerationMin. Acceleration is in %(change in velocity)/s².
}}

{{UGapi|double AccelerationMax (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 6250%/s²
|Returns the maximum acceleration that a motor will accept, or return, in %(change in velocity)/s².
}}

{{UGapi|double AccelerationMin (int MotorIndex) [get] : Constant <nowiki>=</nowiki> 24.51%/s²
|Returns the minimum acceleration that a motor will accept, or return, in %(change in velocity)/s².
}}

{{UGapi|double Current(int MotorIndex) [get]
|Gets the current usage of a motor, in Amps.
}}

{{UGapi|bool BackEMFSensingState(int MotorIndex) [get,set]
|Gets/Sets the back-EMF sensing state for a motor. When back-EMF sensing is enabled, the motor will coast (freewheel) 5% of the time while the back EMF measurement is taken (800us every 16ms). Therefore at a velocity of 100%, the motor is only powered 95% of the time. By default, this is disabled.
}}

{{UGapi|double BackEMF(int MotorIndex) [get]
|Gets the back-EMF measurement for a motor, in Volts. This is only available if BackEMFSensingState is set to true. Back-EMF generally corresponds roughly to true motor velocity - see technical section for details.
}}

{{UGapi|double Braking(int MotorIndex) [get,set]
|Gets/sets the braking amount for a motor at rest, with a range of 0-100%. Braking is only active when the motor velocity is 0. By default, braking is 0%, allowing the motor to coast (free-wheel). The holding strength of a braked motor depends on the motor, but is generally quite low.
}}

{{UGapi|double SupplyVoltage() [get]
|Gets the board supply voltage, in Volts.
}}

{{UGapi|int InputCount() [get] : Constant <nowiki>=</nowiki> 2
|Returns the number of digital inputs.
}}

{{UGapi|bool InputState(int InputIndex) [get]
|Returns the state of a digital input. True means that the input is activated, and False indicated the default state.
}}

{{UGapi|int EncoderCount() [get] : Constant <nowiki>=</nowiki> 1
|Returns the number of encoder inputs.
}}

{{UGapi|int EncoderPosition(int EncoderIndex) [get,set]
|Sets/gets the current encoder position of an encoder. Note that precision is 1/4 of that supported by the PhidgetEncoders 1047 and 1057 - see the technical section for more information.
}}

{{UGapi|int SensorCount() [get] : Constant <nowiki>=</nowiki> 2
|Returns the number of analog sensor inputs.
}}

{{UGapi|int SensorValue(int SensorIndex) [get]
|Gets the current value for a sensor input. Range is 0-1000.
}}

{{UGapi|int SensorRawValue(int SensorIndex) [get]
|gets the raw 12-bit value for a sensor input. Range is 0-4096.
}}

{{UGapi|bool Ratiometric() [get,set]
|Gets/sets the ratiometric state for the analog sensor inputs. Defaults to true.
}}

===Events===
{{UGapi| | }}

{{UGapi|OnVelocityChange(int MotorIndex, double Velocity) [event]
|An event issued when the velocity a motor is being driven at changes.
}}

{{UGapi|OnCurrentChange(int MotorIndex, double Current) [event]
|An event issued whenever the current consumed by a motor changes.
}}

{{UGapi|OnCurrentUpdate(int MotorIndex, double Current) [event]
|An event containing current consumption information for a motor, which is issued at a set interval of 8ms. This is generally used for PID torque control.
}}

{{UGapi|OnBackEMFUpdate(int MotorIndex, double BackEMF) [event]
|An event containing the back-EMF value for a motor, which is issued at a set interval of 16ms, when back-EMF sensing is enabled. This is generally used for PID velocity control.
}}

{{UGapi|OnInputChange(int InputIndex, bool State) [event]
|An event issued when the state of a digital input changes.
}}

{{UGapi|OnEncoderPositionChange(int EncoderIndex, int Time, int PositionChange) [event]
|An event issued when the position of an encoder changes. Time is in 1/3ms and represents the amount of time in which PositionChange counts occurred.
}}

{{UGapi|OnEncoderPositionUpdate(int EncoderIndex, int PositionChange) [event]
|An event containing position change information for an encoder, which is issued at a set interval of 8ms, regardless of whether the position has changed. This is generally used for PID velocity and/or position control.
}}

{{UGapi|OnSensorUpdate(int SensorIndex, int SensorValue) [event]
|An event containing sensor value information for sensors plugged into the Analog Inputs, which is issued at a set interval of 8ms. This may be used for PID control loops depending on the type of sensor being used.
}}

{{UGapi|OnError(int ErrorCode, String ErrorDescription) [event]
|The PhidgetMotorControl 1-Motor will throw error events under certain circumstances:

::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_WRAP''' - The position value for an encoder is wrapping around (between 2147483647 and -2147483648).

::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_PACKETLOST''' - A packet of data has been lost. This should be taken into consideration when the Update events are being used, as a gap will be present in the data - 8ms/packet lost error event.

::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_OVERTEMP''' - An over-temperature, or short-circuit condition has occurred. The output will be clamped at 5-8 Amps.

::'''ErrorCode <nowiki>=</nowiki> EEPHIDGET_BADPOWER''' - The supply voltage is too low or too high. This is thrown if the voltage is <nowiki><=7V, or >=34V</nowiki>. There are several different messages depending on how far out of spec the voltage is. Quick load/velocity changes can cause spike in the supply voltage - if these spikes exceed 40V, the motor is automatically placed in 100% braking - braking ends when the supply voltage falls to <38V. When error states have ended, there will be an error event with the EEPHIDGET_OK code.See the ErrorDescription string for specific error details.
}}
==Product History==
{{UGhist}}
{{UGrow|June 2011|0|100|Product Release}}