How to use Rcservos as axis motor.
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29 Jan 2025 16:29 #320096
by amanker
How to use Rcservos as axis motor. was created by amanker
How can i use Rcservo as axis? I want to drive 6dof robotic arm which has 8 steppers. One for each joint except 2 for shoulder and one for gripper. I have seen example of driving rcservo using pwmgen. That can drive servos, but I want know how to use these servos as axis.
Any help will be highly appreciated.
Any help will be highly appreciated.
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29 Jan 2025 16:43 #320097
by PCW
Replied by PCW on topic How to use Rcservos as axis motor.
Do you mean the normal limited motion range RC servos?
They should works with direct joint position commands
(with appropriate offsets, and scales), like any position mode
actuator.
They should works with direct joint position commands
(with appropriate offsets, and scales), like any position mode
actuator.
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29 Jan 2025 16:51 #320098
by amanker
Replied by amanker on topic How to use Rcservos as axis motor.
Yes I am referring normal rc servo with 180 degree of motion.
How can I assign these servos axis. So that I can control like nomal axis movement and i can use genserkins
How can I assign these servos axis. So that I can control like nomal axis movement and i can use genserkins
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29 Jan 2025 17:11 #320100
by PCW
Replied by PCW on topic How to use Rcservos as axis motor.
You would connect the joint.n.motor-pos-cmd to the controlling
hardware (PWMgen etc)
You would need to loop back joint.n.motor-pos-cmd to
joint.n.motor-pos-fb
You may also need the scale component unless the controlling
hardware has offset and scale parameters.
hardware (PWMgen etc)
You would need to loop back joint.n.motor-pos-cmd to
joint.n.motor-pos-fb
You may also need the scale component unless the controlling
hardware has offset and scale parameters.
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29 Jan 2025 20:12 #320110
by amanker
Replied by amanker on topic How to use Rcservos as axis motor.
My pwm pin is remora.sp.0...7.
Can you write sample hal config lines for single axis. Dont know how and where i link joint.n.motor-pos-fb?
Net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0
Net xpos-fb <= remora.sp.0 => joint.0.motor-pos-fb
Setp joint.0.amp-enable-out 1
Can you write sample hal config lines for single axis. Dont know how and where i link joint.n.motor-pos-fb?
Net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0
Net xpos-fb <= remora.sp.0 => joint.0.motor-pos-fb
Setp joint.0.amp-enable-out 1
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29 Jan 2025 20:14 #320111
by PCW
Replied by PCW on topic How to use Rcservos as axis motor.
net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0 joint.0.motor-pos-fb
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30 Jan 2025 06:57 #320136
by amanker
Replied by amanker on topic How to use Rcservos as axis motor.
Thank you so much for your guidance.
What about enable pin? Joint.0.amp-enable-out?
What about enable pin? Joint.0.amp-enable-out?
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04 Feb 2025 10:34 #320591
by amanker
Replied by amanker on topic How to use Rcservos as axis motor.
I was able to move servo. But motion is too jerky. And servo is starting from any position. G0 x0 don't move to servo 0. It moves to where it was started.
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04 Feb 2025 21:58 #320662
by PCW
Replied by PCW on topic How to use Rcservos as axis motor.
The motion should follow the PWM value and that should follow the absolute position.
if homing is disabled, I would expect the starting position (and therefore PWM value)
to always be the same.
Not sure of the resolution of the Remora PWMgen, it's tough to do PC servo PWM
in software because the entire range of motion is controlled by a 1 ms PWM width change
(so say a 50 KHz base thread would result in only 50 discrete positions)
if homing is disabled, I would expect the starting position (and therefore PWM value)
to always be the same.
Not sure of the resolution of the Remora PWMgen, it's tough to do PC servo PWM
in software because the entire range of motion is controlled by a 1 ms PWM width change
(so say a 50 KHz base thread would result in only 50 discrete positions)
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05 Feb 2025 05:03 #320701
by amanker
Replied by amanker on topic How to use Rcservos as axis motor.
Thanks for explaining. I will ask help from remora developers.
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