Projects

~~~Under Construction~~~

My projects:

AMC644USB with 6DOF: support files library here

AMC1280USB with 6DOF: support files library (almost complete) here


I use dropbox for the file library above. I have limited space 3GB on it, but every time one of you register and install dropbox it on his computer using this link (https://db.tt/cLPbL2yy), the size increases by 500MB.
Please help expand the size of the library to be able to share more and more information. You can read more how this works here: https://www.dropbox.com/help/200/en
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I'll post here a brief description of AMC1280USB controller with media links and instructions for the basic functions:









Latest versions made after Sep 2015 include color coded pin headers:




Here is some details about the communication protocol of the AMC1280USB:

-First of all, the AMC1280USB creates a COM port on the computer you connect it to.
-The speed that you need to talk to the COM port is 250000bps (250kbps). 8-N-1
-The refresh rate for new positions is 1000 times per second (1000hz), so min delay can be 1ms.
-The data size for each axis is 16-bit, values 0 - 65535 with center position 32767.
-Each data packet of information for 6 axis starts with the two characters: AB






You can use the x-sim3 6DOF plugin for testing the platform. It will autodetect the AMC1280USB port and you can select "run hardware" to manually test the motors using the sliders.

For the placement order of the motors on the 6DOF platform you can see Ian's diagram which is showing which motor number is placed where: http://bffsimulation.com/Manual-6DOF/Introduction.php

Axis assignment for 6DOF platform



Here is a quick test of Ian's 6DOF BFF software with a mini servo platform:




Here Mike's test video for his 737 cockpit: 6DOF Motion Platform Model Test, and Test number2 here

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To help you with the interfacing to the VFD inverters there are examples with most known inverters. 
You can study some example connections and settings I have for my inverters (hitachi wj200) here:
Here are some connection diagrams and examples for the older AMC644USB but the 6DOF ext connections remain the same:

Pay extra attention to the inverter inputs as they may need to set to "Source inputs" with a dip switch and a bridge between the PLC and COM (some hitachi models use bridge). If you connect a "sink inputs" VFD (that outputs +24v instead, with the intention to be sink to the common node for simple switch mode) to the 6DOF ext board, you may burn the power chips on the 6DOF ext board as they will try to also provide +24v signals and cause short circuit. The 6DOF extension board is the part that handles all the higher voltage signals (0-10v speed, and 0-24v digital direction). I just made a new version3 6DOF ext board that supports both Source and Sink inputs VFD inverters. But if you are not sure about the input type of your inverter, you may use optoisolated Relay board for the direction switching:  

In worst case, you can send me your inverter datasheet to help with wiring and settings.


To power the 6DOF ext board, you will need a small power supply, 1A 24v PSU like this:



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DC motors can be also used for smaller load 6dof platforms or less degrees of freedom platforms like for 2DOF, 3DOF or 4DOF, even for 5DOF.

In the next photo you can see a suggested connection of a Devantech MD03 DC motor driver to the AMC1280USB (1 motor connection example):



You can find Markus excellent page with more information on interfacing DC motors for 6DOF platform here: http://mgeisler.my.primusnetz.de/6DOF/






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If it happens the AMC1280USB showing nothing on the screen, it might entered bootloader mode. Can you see a led blinking on the bottom board close to the USB connector? That is an indication that it needs to be flashed again with the firmware. 

You can find the firmware tool to load it again here:

The latest firmware file can be found here:



And a video with instruction how to load the firmware here:

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You can download here the preliminary version of the manual of AMC1280USB with all the additions I did so far (I'll do more when I get some spare time these days):


And here is a collection of older videos that you might find helpful as they explain lots about the connections:
http://www.youtube.com/watch?v=7X7Zta9uL_I   (quick connection and software setup on the laptop for testing)
Quick testing of the 6DOF extension board outputs



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For position motor encoders I recommend the following ones:

For 10-turn magnetic contact-less sensors (preferred in ball-screw or belt type linear actuators)

For half turn /180degrees rotation contact-less magnet sensors (preferred in AC gearmotors, 6DOF)
6127V1A180L.5

Quadrature encoders are not supported at this time. But I'm building an add-on card for it, that will be in the very near future. Quadrature encoders are best combined with BLDC servo motors that allow micro-stepping.

I recently found this nice interactive animated page that explains how the AC / BLDC motors work internally. (click on the BLDC motors tab)



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Quick help setting up the correct direction for 6DOF using 6127V1A180L.5 sensors. 

Not really an issue but you can only measure 0-5v towards one direction with these sensors. This means that if you connect them like in the following video, half of the motors will rotate wrong direction.

.

In the video, you can see what happens if you set the direction of the 6DOF to "pos 1-2-3-4-5-6" and  all the "A","B" direction inputs are wired the same on all motors. I assume you are pressing the two buttons on the AMC1280USB for high-low position of the motors right?

What I would suggest is use the "Pos 1,3,5 Neg 2,4,6" and invert the 24v direction connectors to the VFD engines 2,4,6 !!

Here is a little map that might help:

*CW is clockwise and CCW is counter-clockwise direction signals, A,B are the DIR outputs on the 6DOF ext board.

Motor1:
A: CW
B: CCW

Motor2:
A: CCW
B: CW

Motor3:
A: CW
B: CCW

Motor4:
A: CCW
B: CW

Motor5:
A: CW
B: CCW

Motor6:
A: CCW
B: CW

Then fire up the power, if the motors does not stop rotating, set the direction in the LCD to Neg 1,3,5 Pos 2,4,6

You have to do that switch of the direction signals on the wires as you cannot rewire the sensor to read different direction. I invert the sensor direction in software.




Thanos, 2014

19 comments:

  1. Hi Thanos, I would like to use your AMC1280 USB to make a 6DOF simulator. you are selling the kits, or how can I do to have control boards. Greeting.

    Mauro.

    ReplyDelete
  2. There are now available AMC1280USB + 6DOF ext boards. They come fully assembled, programmed and tested, ready to be used on platforms (2DOF, 3DOF, 4DOF or 6DOF). For inquiries please email me at Tronickod@yahoo.com

    Please give some information on the motion existing platform you own, or your plans for a new one you are going to build. Information like the projected load weight on the platform or the range of angles motion cues, will allow me to better help with the motor/VFD requirements for your project.

    Thanks
    Thanos

    ReplyDelete
  3. Hi Thanos,

    I am very interested in a 6dof setup. What is the price range for building a setup?

    ReplyDelete
    Replies
    1. Hi Craig. Just email me for details on the email address mentioned above. Thanks!

      Delete
  4. Hi Thanos,

    I am very interested in a 6dof setup. What is the price range for building a setup? I sent you an email today... the idea is build this plataform with a cockpit for two people....

    ReplyDelete
  5. Hi Thanos,

    Found a your old project on a forum, and had several information from him, you want to know if the pci available for mounting? Want a simple cockpit, equal to the link (low cost)

    https://www.youtube.com/watch?v=fZHxtnS-vcA

    my email: luizhmantovani@hotmail.com

    ReplyDelete
  6. Hi Thanos, I have a 6DOF Hydraulic Stewart platform and would love to use your controller. How can I buy one please??

    ReplyDelete
  7. Its simple. Contact me at my email: tronickod@yahoo.com

    Thanks
    Thanos

    ReplyDelete
  8. Hi Thanos, I'm using your AVR Motion Controller v1.5. It was working well for 3 years, and suddenly starts to show those results(see photo). Left wiper motor is always at maximum values, instead both in middle positions. What could be wrong? Is it left pot?

    http://postimg.org/image/f33himb9n/

    Thank you!

    ReplyDelete
    Replies
    1. Your potentiometer probably is done after 3 years of such hard work... You should look into using magnetic contact-less potentiometers that are based on hall-effect sensors:
      http://www.digikey.com/product-detail/en/6127V1A180L.5/987-1387-ND/2620657

      Delete
    2. When I disconnect both potentiometers from controller, display shows maximum values for both around 1000, it should shows middle values around 500? Am I right?

      http://postimg.org/image/5mi9pqgsr/

      Delete
  9. When I disconnect both potentiometers from controller, display shows maximum values for both around 1000, it should shows middle values around 500? Am I right?

    http://postimg.org/image/5mi9pqgsr/

    ReplyDelete
  10. Hi Thanos. I tried with new pot and new ATmega8535, but it didn't resolved the problem. Controller gives only high values for POT 2, in range 800-1023. When I turn pot to minimum (around 800) controller shuts down. Obviously, some part of AMC is damaged. Any idea? See video below

    https://www.youtube.com/watch?v=iMVQlXwFNxc

    Thank you

    ReplyDelete
    Replies
    1. From what I see in the video, you have the second potentiometer connected wrong. You either connected the Wiper of the potentiometer on the ground or the +5v, resulting to short circuit when you reach the end of travel of the potentiometer. Check your connections, there is nothing wrong with the controller.

      Delete
  11. Hallo Thanos

    now that i can't reach you per email i will here give it a try!

    So please how can i contact you?

    Greetings
    John

    ReplyDelete
    Replies
    1. You can try my Gmail:

      tronicgr AT Gmail DOT COM

      Thanks, Thanos

      Delete
  12. where can i purches position feedback potentiometer, kill switch, 5V power suply and 24V 20A 240V power suply? do you have a link to a recomandd online store?

    ReplyDelete
  13. I am using Arduino uno and h-bridge for my 2 dof I would like to work on 3 dof with your circuits where can I get it.

    ReplyDelete
    Replies
    1. Hi, See ordering information here:
      https://motionsim.blogspot.com/2017/08/extending-pre-orders-for-kickstarter.html

      Email me to quote you for the current prices (after kickstarter).

      Thanks
      Thanos

      Delete