二軸ブラシレスモータドライバ TF-2MD3-R6 User's Manual
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1 TF-2MD3-R6 User s Manual (WATANABE Atsushi) 1 rev.3 - January 14th, Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. 1 atsushi.w[at]ieee.org
2 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) rev.1 March 9th, 2013 rev.2 August 17th, 2013 TF-2MD3-R6 rev.3 January 14th, 2014 DC (MOTOR PHASE ) LED YP-Spur
3 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R T-frog TF-2MD3-R TF-2MD3-R YP-Spur Ubuntu Linux Fedora Linux Windows YP-Spur YP-Spur YP-Spur TF-2MD3-R Linux Windows LED ypspur-coordinator
4 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R6 TF-2MD3-R6 PC 1 YP-Spur 1: (AC ) 1.2 T-frog 2010 T-frog (Future Robotics Groundworks from Tsukuba) T-frog TF-2MD3-R info2[at]tsuji-denshi.co.jp (2013 )atsushi.w[at]ieee.org
5 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R DC 2 USB CDC-ACM LinuxMac OS XWindows (Windows ) YP-Spur 4 2: TF-2MD3-R6 1: TF-2MD3-R6 3 DC 2 USB2.0 (CDC-ACM) UART (3.3 V CMOS) RS V 5 A/ch () PWM 1200 (20 khz ) x 55 x 30 mm 100 g AD 7 ch IO 8 ch 4 Robot Platform Project
6 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R6 TF-2MD3-R6 YP-Spur 3 3 PI PI (PWS) [2][3] 3: TF-2MD3-R6 YP-Spur
7 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) !!! 5V 100mA 1A! ()
8 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 5! 2.2 USB USB 5V TF-2MD3-R6 YP-Spur
9 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) T-frog T-frog T-frog T-frog T-frog T-frog T-frog T-frog T-frog (T-frog ) T-frog T-frog
10 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 7 3. TF-2MD3-R6 3.1 TF-2MD3-R6 USB 4 4: TF-2MD3-R6 U V W DC A 90 B
11 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R6 2 3 (JST VH ) 10A 2: TF-2MD3-R6 3: TF-2MD3-R V V V V V 4.7 kω LO 0.6 V HI 2.2 V typ 140 ma (1 typ 20 ma (1 USB 3.3 TF-2MD3-R6 5 2 (10mm ) M mm 0.5mm 4.0 M3.0 10mm mm Top-View 5: TF-2MD3-R6
12 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 9 4. YP-Spur TF-2MD3-R6 YP-Spur TF-2MD3-R6 YP-Spur 4.1 YP-Spur Unix (LinuxMac OS X ) Windows Linux Mac OS X git gcc+glibc Ubuntu Linux 1 $ sudo apt-get update 2 $ sudo apt-get install build-essential libreadline-dev 3 $ sudo apt-get install git git-svn Fedora Linux 1 $ sudo yum groupinstall "Development Tools" 2 $ sudo yum install readline-devel 3 $ sudo yum install git git-svn
13 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) Windows 1. URL Download for Windows Git 2. Windows MinGW Linux YP-Spur MinGW 1. URL mingw-get-inst-******.exe 2. Select Components C++ Compiler, MSYS Basic System, MinGW Developer ToolKit Next > 6: MinGW MinGW MinGW Shell 1 $ mingw-get install update 2 $ mingw-get install mingw32-pexports 3 $ mingw-get install msys-mintty 5. MinGW MinGW Shell 7: MinGW Shell mintty OK
14 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 11 8: MinGW Shell 2 MinGW MinGW Shell TF-2MD3-R6 Windows URL driver/ PC TF-2MD3-R6
15 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) YP-Spur YP-Spur 1 $ git clone 2 $ cd yp-spur 3 $./configure 4 $ make 5 $ sudo make install 6 $ sudo ldconfig 7 $ cd.. 8 $ git clone 9 $ cd yp-robot-params 10 $./configure 11 $ sudo make install 12 $ cd YP-Spur 5.1 YP-Spur PC ypspurcoordinator 1.0 x 0.1 YP-Spur 2 YP-Spur! $ ypspur-coordinator -p PARAMETER_FILE.param -d DEVICE_PATH 1 $ cd yp-spur/samples/ 2 $./run-test PARAMETER FILE.param /usr/local/share/yp-robot-params DEVICE PATH /dev/ttyacm0 Linux Windows DEVICE PATH COM1
16 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) YP-Spur TF-2MD3-R6 DC YP-Spur Wiki MOTOR PHASE DC DC MOTOR R: [Ω] R 3 4 R MOTOR VC: [rpm/v] V r max r max /V MOTOR TC: [Nm/A] K E = r max /V 60 2πK E 6 n ( 1 n ) (GEAR ) n (COUNT REV ) 1/n MOTOR M INERTIA n M M/n 2 TF-2MD3-R6 YP-Spur 5.2 TF-2MD3-R6 PC 9 TF-2MD3-R6 (BX230A-15FR ) Robot Platform Project Wiki 6 P = E I = K E ω I P = τ ω = K τ I ω K E = K τ ()
17 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 14 9: 1 MOTOR_PHASE # 2 TORQUE_FINENESS # 3 COUNT_REV #[cnt/rev] 4 VOLT #[V] 5 CYCLE #[s] 6 GEAR #[in/out] 7 MOTOR_R #[ohm] 8 MOTOR_TC #[Nm/A] 9 MOTOR_VC #[rpm/v] RADIUS[0] #[m] 12 RADIUS[1] #[m] 13 TREAD #[m] 14 CONTROL_CYCLE #[s] 15 GAIN_KP #P gain 16 GAIN_KI #I gain 17 TORQUE_MAX #[Nm] 18 TORQUE_LIMIT #[Nm] 19 TORQUE_NEWTON #[Nm] 20 TORQUE_VISCOS #[Nm/rad/s] MAX_VEL #[m/s] 23 MAX_W #[rad/s] 24 MAX_ACC_V #[m/ss] 25 MAX_ACC_W #[rad/ss] 26 MAX_CENTRI_ACC #0.25G INTEGRAL_MAX #[rev] 29 MASS #[kg] 30 MOMENT_INERTIA #[kgmˆ2] 31 MOTOR_M_INERTIA #[kgmˆ2] 32 TIRE_M_INERTIA #[kgmˆ2]
![05600000 #[m] 13 TREAD 0.39000000 #[m] 14 CONTROL_CYCLE 0.02000000 #[s] 15 GAIN_KP 35.00000000 #P gain 16 GAIN_KI 45.00000000 #I gain 17 TORQUE_MAX 0.40000000 #[Nm] 18 TORQUE_LIMIT 0.](/docs-images/40/20165891/images/page_17.jpg "50000000 #[Nm] 19 TORQUE_NEWTON 0.00200000 #[Nm] 20 TORQUE_VISCOS 0.00000000 #[Nm/rad/s] 21 22 MAX_VEL 3.00000000 #[m/s] 23 MAX_W 6.28000000 #[rad/s] 24 MAX_ACC_V 2.00000000 #[m/ss] 25 MAX_ACC_W 12.")
18 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) TF-2MD3-R6 TF-2MD3-R6 USB URL driver/ 6.1 Linux samba Flash Utility for AT91SAM7 microcontrollers 1 $ git svn clone --trunk=trunk --prefix=samba /svn/ samba 2 $ cd samba 3 $./configure 4 $ make 5 $ sudo make install FLASH ROM DEVICE PATH /dev/ttyacm0 Linux 1 $ echo $FLASHERACEA > DEVICE_PATH 2 $ echo $FLASHERACEB > DEVICE_PATH TF-2MD3-R6 USB (5V) DEVICE PATH /dev/ttyacm0 Linux FIRMWARE.bin 1 $ samba -i DEVICE_PATH 2 > flash 0x FIRMWARE.bin 3 > nvm 4! LED1 LED2
19 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) Windows SAM-BA for Windows URL Tera Term ( TF- 2MD3-R6 COM FLASH ROM 1 $FLASHERACEA 2 $FLASHERACEB TF-2MD3-R6 USB (5V) Windows : 2. 11: 3. (P)
20 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 17 12: 4. (R) 13: 5. SAM-BA for Windows drv ( C:\Program Files (x86)\atmel\sam-ba 2.12\drv ) (N) 14: 6. (I)
21 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) 18 15: 1. SAM-BA for Windows 2. Select the connection TF-2MD3-R6 3. Select your board TF-2MD3-R6 at91sam7se512-ek at91sam7se256-ek 4. Connect 16: SAM-BA for Windows 5. External RAM initialization failed. (Y) 6. Download / Upload File Send File Name 7. Send File 17: SAM-BA for Windows
22 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) Lock region(s) (N) 9. Scripts Boot from Flash (GPNVM2) Execute 18: Flash! LED1 LED2 6.3 FLASH ROM 1. TF-2MD3-R6 SW (5V) (1 ) SW1 (3 ) SW1 TF-2MD3-R6 () TF-2MD3
23 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) LED LED1 4 8 V ypspur-coordinator CPU 100 % 4: LED (: : ) 1 2
24 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) ypspur-coordinator ypspur-coordinator TF-2MD3 Error: Can t open serial port. ypspur-coordinator TF-2MD3 USB TF-2MD3 ypspur-coordinator Error: Device doesn t have available YP protocol version. TF-2MD3 TF- 2MD3 ypspur-coordinator Error: Your parameter file format is too old. TF-2MD3 Error: Your parameter file format is unsupported! YP-Spur Error: Cannot find parameter file. ypspur-coordinator Error: **** undifined! (****) Error: Select in serial recieve failed. / Error: Read in serial recieve failed. ypspur-coordinator TF-2MD3 USB TF-2MD3 USB Error: Select timed out. / Error: Read timed out. ypspur-coordinator TF-2MD3 USB TF-2MD3 USB
25 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) info2[at]tsuji-denshi.co.jp (2013 ) atsushi.w[at]ieee.org T-frog () tf-2md3-devel[at]t-frog.com
26 TF-2MD3-R6 User s Manual (rev.3 - January 14th, 2014) [1],, DC. D Vol.109-D, No.4, pp , [2] S. Iida, S. Yuta, Control of Vehicle with Power Wheeled Steerings Using Feed-forward Dynamics Compensation, in Proc. of Annual Conference on the IEEE Industrial Electronics Society, pp , 1991 [3],, in Proc. of 43, pp , 1995
Robot Platform Project(RPP) "Spur" "YP-Spur" rev. 4 [ ] Robot Platform Project(RPP) WATANABE Atsushi 1.,,., Fig. 1.,,,,,.,,,..,,..,,..,,,,. "
![Robot Platform Project(RPP) Spur YP-Spur rev. 4 [ ] Robot Platform Project(RPP) WATANABE Atsushi 1.,,., Fig. 1.,,,,,.,,,..,,..,,..,,,,.](/thumbs/93/117962738.jpg "Robot Platform Project(RPP) Spur YP-Spur rev. 4 [ ] Robot Platform Project(RPP) WATANABE Atsushi 1.,,., Fig. 1.,,,,,.,,,..,,..,,..,,,,.")
Robot Platform Project(RPP) "Spur" "YP-Spur" ev. 4 [.8.9] Robot Platform Project(RPP) WATANABE Atsushi.,,., Fig..,,,,,.,,,..,,..,,..,,,,. "",,, Spur.,, Robot Platform Project, "YP-Spur".,,, 98 99,. [][3][4].,,,
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