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set parameter oplet
JamesNewton edited this page Jun 5, 2019
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High level Parameters in the Dexter Firmware are set with the "S" Oplet. For direct control of low level FPGA parameters, see the "w" Oplet
| # | Name | Default / Range | DDE / Socket Units | Socket Type | Description |
|---|---|---|---|---|---|
| 0 | MaxSpeed | 30 / 0.001-45 | deg/s / nbits | integer | Maximum velocity of next move in "nbits"1. Default is 250000. See also StartSpeed below. |
| 1 | Acceleration | 0.0001 / 0.0001 - 0.1 | deg/s2 / nbits | integer | Maximum acceleration of next move in "nbits"1. Default is 3. |
| 2 | J1Force | How hard each joint tries to return to commanded position in force protect modes | |||
| 3 | J3Force | ||||
| 4 | J2Force | ||||
| 5 | J4Force | ||||
| 6 | J5Force | ||||
| 7 | J1Friction | 5 / 0-50 | unitless | fixed point? | 2 The friction felt during FollowMe mode |
| 8 | J3Friction | 5 / 0-50 | unitless | fixed point? | |
| 9 | J2Friction | 5 / 0-50 | unitless | fixed point? | |
| 10 | J4Friction | 15 / 0-150 | unitless | fixed point? | |
| 11 | J5Friction | 15 / 0-150 | unitless | fixed point? | |
| 12 | J1BoundryHigh | 180 / -180-180 | deg / arcsec | integer | Set all Boundaries at once with "B" Oplet |
| 13 | J1BoundryLow | 180 / -180-180 | deg / arcsec | integer | |
| 14 | J3BoundryHigh | 180 / -180-180 | deg / arcsec | integer | |
| 15 | J3BoundryLow | 180 / -180-180 | deg / arcsec | integer | |
| 16 | J2BoundryHigh | 180 / -180-180 | deg / arcsec | integer | |
| 17 | J2BoundryLow | 180 / -180-180 | deg / arcsec | integer | |
| 18 | J4BoundryHigh | 180 / -180-180 | deg / arcsec | integer | |
| 19 | J4BoundryLow | 180 / -180-180 | deg / arcsec | integer | |
| 20 | J5BoundryHigh | 180 / -180-180 | deg / arcsec | integer | |
| 21 | J5BoundryLow | 180 / -180-180 | deg / arcsec | integer | |
| 22 | GripperMotor | 0/0-1, 0/0-12000, 0/0-12000 | ON/OFF, ON_PWM, OFF_PWM | bool, int, int | Set PWM output on J19 1st parameter starts PWM with 1, stop with 0. After 2019/05/23: 2nd parameter is PWM on time, 3rd is off time. See W commands 73 - 74. |
| 23 | EERoll | 512 / 0~1023 | deg / 0.29*deg | 6th axis position / Tool Interface Roll (was standard servo, May 29,2018 changed to Dynamixel) | |
| 24 | EESpan | 0 / 0~1023 | deg / 0.29*deg | 7th axis position / End Effector actuation (was standard servo, May 29,2018 changed to Dynamixel) | |
| 25 | StartSpeed | Velocity at start (and currently, the end as well) of the next move in "nbits"1 | |||
| 26 | EndSpeed | (not implemented) Currently StartSpeed is the speed for both the start and end of each move. | |||
| 27 | ServoSet2X | Address, Register, Value (as of 2018/05/29 was "End") see: Servo | |||
| 28 | ServoSet | ||||
| 29 | RebootServo | 2018/05/29 | |||
| 30 | RunFile | FilePathName 2018/10/12 If it exists, the file will be opened and all instructions from it parsed and executed. By convention, files end with .make_ins extension. Each line should be one instruction just like any sent over the socket connection (the job, instruction, start, and end time values are NOT included; start with the oplet). A sample line might be S J1_PID_P 0.2 ; set base drive Anything after a ';' is ignored allowing comments. Was 2018/08/24 "Ctrl" parms/values for compact setting of values related to operational mode but this was depreciated and replaced with RunFile. |
|||
| 31 | J1_PID_P | 0.2 / 0 - 1 | unitless | float | Float Oct 12, 2018 Set Joint PID P with a floating point number. Helps with Issue #33 |
| 32 | J2_PID_P | 0.2 / 0 - 1 | unitless | float | |
| 33 | J3_PID_P | 2 / 0 - 4 | unitless | float | |
| 34 | J4_PID_P | 0.1 / 0 - 0.5 | unitless | float | |
| 35 | J5_PID_P | 0.1 / 0 - 0.5 | unitless | float | |
| 36 | AngularSpeed | 30 / 1 - 45 | deg/s / arcsec/s | integer | Speed to ramp up to at given acceleration. Same as MaxSpeed but with human readable units. |
| 37 | AngularSpeedStartAndEnd | 0.1 / 0 - 45 | deg/s / arcsec/s | integer | Speed to ramp up from and down to. Same as StartSpeed but with human readable units. |
| 38 | AngularAcceleration | 0.1 / 0.0003 - 0.1 | deg/s2 | integer | |
| 39 | CartesianSpeed | 300000 / 10000 - 500000 | micron/s | integer | |
| 40 | CartesianSpeedStart | 0 / 0 - 500000 | micron/s | integer | |
| 41 | CartesianSpeedEnd | 0 / 0 - 500000 | micron/s | integer | |
| 42 | CartesianAcceleration | 1000000 / 0 - 500000 | micron/s2 | integer | |
| 43 | CartesianStepSize | 10 / 1 - 10000 | micron | integer | |
| 44 | CartesianPivotSpeed | 108000 / 1 - 360000 | arcsec/s | integer | |
| 45 | CartesianPivotSpeedStart | 0 / 1 - 360000 | arcsec/s | integer | |
| 46 | CartesianPivotSpeedEnd | 0 / 1 - 360000 | arcsec/s | integer | |
| 47 | CartesianPivotAcceleration | 10800000 / 1 - 10800000 | arcsec/s2 | integer | |
| 48 | CartesianPivotStepSize | ? / ? | arcsec | integer | |
| 49 | EyeNumbers | 0/-200 to +200 | 5 integers | Sets the index for which Eye Dexter thinks it is at. Where it is within an eye is calculated with encoder measurements and effectively cannot be set. Takes 5 signed integer arguments where 0 is the circle that contains 0 degrees. See read_from_robot, #EyeNumbers. | |
| 50 | CommandedAngles | arcsec / arcsec | 5 integers | Sets where Dexter thinks it is without actually moving the robot. Takes 5 angles in integer arcseconds. These are the same values that are returned in the robot status under *_AT. | |
| 51 | LinkLengths | 228600, 320676, 330201, 50801, 82551 | microns | 5 integers | Sets the lengths of each link in the arm for the onboard kinematics. Link 1: Base mount to Joint 2 pivot. Link 2: Joint 2 pivot to Joint 3 pivot. Link 3: Joint 3 pivot to Joint 4 pivot. Link 4: Joint 4 pivot to axis of tool interface. Link 5: Axis of Joint 4 to end effector (note: this depends on the end effector) |
| 52 | RawEncoderErrorLimits | 3600 / 0-1296000 | arcsec | 5 integers | 2019/04/22 The largest error allowed between the raw encoder reading of position and the expected position for each joint. Part of the status monitor. Will inject a returned error status on the next command and write out and entry with more information to /srv/samba/share/errors.log |
| 53 | RawVelocityLimits | 3600 / 0-1296000 | arcsec | 5 integers | 2019/04/22 The largest velocity allowed between subsequent readings of the raw encoder position. Part of the status monitor. Will inject a returned error status on the next command and write out and entry with more information to /srv/samba/share/errors.log |
Note 1 nbits are a value added to a register every clock cycle for a 128Khz clock such that once it overflows, an action will be taken. Converted automatically by DDE in the socket communications code for the "MaxSpeed", "StartSpeed", and "Acceleration" parameters. The global constant "_nbits_cf" is 7754.73550222 and the values given are multiplied by that constant. This converts degrees / second (or degrees / second / second in the case of Acceleration) into nbits. Setting these values too low with effectively lockup the FPGA as it will take far too long to complete a movement.
Note 2 Frictions can be fractional, but are limited to a range of +-(256 + 1/256). E.g. 1.1 becomes 1 plus a fractional value of 25/256
Test for new table format:
| #, Name (use either) |
min|initial|max in DDE units |
min|initial|max in Dexter units |
| Description | ||
| 0, MaxSpeed | 0.001 | 30 | 45 deg/s |
8 | 250000 | 348963 integer nbits |
| Maximum velocity of next move in "nbits"1. See also StartSpeed below. | ||
| 1, Acceleration | 0.0001 | 0.0001 | 0.1 deg/s2 |
1 | 3 | 775 integer nbits |
| Maximum acceleration of next move in "nbits"1. | ||
| 2, J1Force | ||
| 3, J3Force | ||
| 4, J2Force | ||
| 5, J4Force | ||
| 6, J5Force | ||
| Joint Forces: How hard each joint tries to return to commanded position in force protect modes | ||
| 7, J1Friction | 5 unitless | 0-50 fixed point 8.8 |
| 8, J3Friction | 5 unitless | 0-50 fixed point 8.8 |
| 9, J2Friction | 5 unitless | 0-50 fixed point 8.8 |
| 10, J4Friction | 15 unitless | 0-150 fixed point 8.8 |
| 11, J5Friction | 15 unitless | 0-150 fixed point 8.8 |
| Joint Frictions: 2 The friction felt during FollowMe mode. Frictions can be fractional, but are limited to a range of +-(256 + 1/256). E.g. 1.1 becomes 1 plus a fractional value of 25/256. | ||
| 12, J1BoundryHigh | -180 | 150 | 180 deg | -648000 | 540000 | 648000 integer arcsec |
| 13, J1BoundryLow | -180 | -150 | 180 deg | -648000 | -540000 | 648000 integer arcsec |
| 14, J3BoundryHigh | -180 | 150 | 180 deg | -648000 | 540000 | 648000 integer arcsec |
| 15, J3BoundryLow | -180 | -150 | 180 deg | -648000 | -540000 | 648000 integer arcsec |
| 16, J2BoundryHigh | -180 | 90 | 180 deg | -648000 | 324000 | 648000 integer arcsec |
| 17, J2BoundryLow | -180 | -90 | 180 deg | -648000 | -324000 | 648000 integer arcsec |
| 18, J4BoundryHigh | -180 | 90 | 180 deg | -648000 | 324000 | 648000 integer arcsec |
| 19, J4BoundryLow | -180 | -90 | 180 deg | -648000 | -324000 | 648000 integer arcsec |
| 20, J5BoundryHigh | -180 | 90 | 180 deg | -648000 | 324000 | 648000 integer arcsec |
| 21, J5BoundryLow | -180 | -90 | 180 deg | -648000 | -324000 | 648000 integer arcsec |
| Joint Boundaries: Set all Boundaries at once with "B" Oplet. (note order if referencing by number, Joint 3 and 2 are swapped here) | ||
| 22, GripperMotor | 0|0|1 ON/OFF, 0|0|100% ON_PWM, 0|0|100% OFF_PWM | 0|0|1 bool, 0|0|12000 int, 0|0|12000 int |
| Set PWM output on J19 1st parameter starts PWM with 1, stop with 0. After 2019/05/23: 2nd parameter is PWM on time, 3rd is off time. See W commands 73 - 74. | ||
| 23, EERoll | 0-300 deg | 0|512|~1023 servo units (0.29*deg) |
| 6th axis position / Tool Interface Roll (was standard servo, May 29,2018 changed to Dynamixel) | ||
| 24, EESpan | 0-300 deg | 0|0|~1023 servo units (0.29*deg) |
| 7th axis position / End Effector actuation (was standard servo, May 29,2018 changed to Dynamixel) | ||
| 25, StartSpeed | 0.0001|1|? degrees/second | 1|7754|? nbits |
| Velocity at start (and currently, the end as well) of the next move in "nbits"1 | ||
| 26, EndSpeed | ||
| (not implemented) Currently StartSpeed is the speed for both the start and end of each move. | ||
| 27, ServoSet2X | Servo Address, Register, Value | |
| Low level servo register write (as of 2018/05/29 was "End") see: Servo | ||
| 28, ServoSet | Servo Address, Register, String | |
| Send string to servo 2018/05/29. Needs work see Issue 32 Needed for Screen | ||
| 29, RebootServo | Servo Address | |
| Reset servo. 2018/05/29 | ||
| 30, RunFile | FilePathName | FilePathName |
| RunFile: Added2018/10/12 If it exists, the file will be opened and all instructions from it parsed and executed. By convention, files end with .make_ins extension. Each line should be one instruction just like any sent over the socket connection (the job, instruction, start, and end time values are NOT included; start with the oplet). A sample line might be S J1_PID_P 0.2 ; set base drive Anything after a ';' is ignored allowing comments. Was 2018/08/24 "Ctrl" parms/values for compact setting of values related to operational mode but this was depreciated and replaced with RunFile. |
||
| 31, J1_PID_P | 0 | 0.2 | 1 unitless | 0 | 0.2 | 1 float |
| 32, J2_PID_P | 0 | 0.2 | 1 unitless | 0 | 0.2 | 1 float |
| 33, J3_PID_P | 0 | 2 | 4 unitless | 0 | 2 | 4 float |
| 34, J4_PID_P | 0 | 0.1 | 0.5 unitless | 0 | 0.1 | 0.5 float |
| 35, J5_PID_P | 0 | 0.1 | 0.5 unitless | 0 | 0.1 | 0.5 float |
| 2018/08/12 Set Joint PID P with a floating point number. Helps with Issue #33 | ||
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