Maxon Driver #
We use Maxon EPOS2 24/2, digital positioning controller, 2 A, 9 - 24 VDC.
Download the EPOS Studio from the SOFTWARE/FIRMWARE under Downloads tab.
Install EPOS Studio and connect the Maxon driver to the computer via USB. Follow the EPOS2 24/2 Getting Started to configure the driver.
The CDM Actuation Unit #
The Roll Motor #
| Combination | Product NO. 526339 | |
|---|---|---|
| GEAR | Planetary Gearhead GP 16 C Ø16 mm, 0.2–0.6 Nm | Part number:416391 |
| MOTOR | RE 16 Ø16 mm, Precious Metal Brushes CLL, 3.2 Watt | Part number:118705 |
| SENSOR | Encoder MR, Type ML, 512 CPT, 3 Channels, with Line Driver | Part number:201940 |
The Startup Configuration Parameters:
Afterwards, run the Regulation Tuning Wizard to tune the motor.
You can also Export the Parameter as a dcf file.
The Bend Motor #
| Combination | Product NO. 466087 | |
|---|---|---|
| GEAR | Screw Drive GP 16 S Ø16 mm, Metric spindle, M6 x 1 | Part number:424798 |
| MOTOR | RE 16 Ø16 mm, Graphite Brushes, 4.5 Watt | Part number:118730 |
| SENSOR | Encoder MR, Type M, 512 CPT, 2 Channels, with Line Driver | Part number:201937 |
The Startup Configuration Parameters:
Afterwards, run the Regulation Tuning Wizard to tune the motor.
You can also Export the Parameter as a dcf file.
Update the json file #
Typically, once we have the exported parameters, we update the values of the json file that is used by ROS Driver.
For example, in
bigss/snake/config, the json file maxon_466087.json looks like:
{
"motor": {
"motorParams": {
"nominalCurrent": 582,
"maxCurrent": 1164,
"thermalTimeConstant": 109,
"pitch": 1,
"gearRatio": 24,
"stroke": 200
},
"sensorParams": {
"encoderResolution": 512,
"quadrature": 4,
"invertedPolarity": 0,
"type": 2
},
"safetyParams": {
"maxFollowError": 2000,
"maxProfileVelocity": 12000,
"maxAccel": 4294967295
},
"positionRegulator": {
"p": 64,
"i": 329,
"d": 66,
"vFF": 0,
"aFF": 15
},
"velocityRegulator": {
"p": 177,
"i": 43,
"vFF": 0,
"aFF": 15
},
"currentRegulator": {
"p": 732,
"i": 469
}
}
}
Usually, you don’t need to change the motorParams, sensorParams and safetyParams sections unless this is your first time creating a json configuration. The positionRegulator, velocityRegulator, and currentRegulator sections are the ones that you may need to update after tuning.