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:

https://www.dropbox.com/sh/zhp21mnxul9ypol/AvDXjpZZZq/Connection%20diagrams%20to%20VFD/hitachi%20wj200-007sf

Here are some connection diagrams and examples for the older AMC644USB but the 6DOF ext connections remain the same:

 https://www.dropbox.com/sh/zhp21mnxul9ypol/uAZbqdQdF7/Connection%20diagrams%20to%20VFD

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:  

 Using optoisolated relay board with AMC1280USB and 6DOF ext 

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:

https://www.dropbox.com/sh/641qkq11p3prar1/4D7ybs5Jfu/Firmware%20bootloader%20Utility

The latest firmware file can be found here:

Firmware AMC1280USB 6DOF

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

http://www.youtube.com/watch?v=evJzIFqBWks 

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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):

https://www.dropbox.com/s/1qun9agpaq425p3/amc1280usbmanual_rev2.pdf

And here is a collection of older videos that you might find helpful as they explain lots about the connections:

SEW Eurodrive Movitrac B and AMC1280USB 

SEW Eurodrive Movitrac B and AMC1280USB (2) 

Step by step explanation of features, functions and connections for AMC12  ...

Step by step explanation of software settings and driver for AMC1280USB 

Demonstration of 6DOF plugin for x-sim for the Steward platform use of AM 

Demonstration of Ian's BFF 6DOF software with AMC1280USB 

AMC1280USB update firmware procedure 

Thanos6DOF plugin for x-sim3 demonstration of use 

Delta connections of the 3phase AC motor 

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)

AMM20B5A1CLASL380

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.

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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