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ORCA RM220115
IRIS ORCA RM220115 Manuals
Manuals and User Guides for IRIS ORCA RM220115. We have
1
IRIS ORCA RM220115 manual available for free PDF download: Advanced User's Reference Manual
IRIS ORCA RM220115 Advanced User's Reference Manual (51 pages)
Brand:
IRIS
| Category:
Engine
| Size: 3 MB
Table of Contents
Table of Contents
2
Revision History
5
Introduction
6
Figure 1: Block Diagram
6
Powering the Motor
7
Fuse
7
Ground
7
Chassis
7
Figure 2: Initial Orca Series Motor Setup
7
Communication Interfaces
8
Table 2: Communication Interfaces
8
Methods of Motor Control
9
Iriscontrols Software
9
Modbus RTU
9
Orca Analog Interface
9
Autonomous
9
Modes of Operation
10
Sleep Mode (1)
10
Force Mode (2)
10
Position Mode (3)
10
Haptics Mode (4)
10
Kinematic Mode (5)
10
Getting Started with Iriscontrols
11
Required Software
11
Required Hardware
11
Figure 3: Iriscontrols Software Without an Orca Series Motor Connected
11
Figure 4: Orca Series Linear Motor
11
Figure 5: RS485 to USB Cable
11
Connecting to Iriscontrols
12
Troubleshooting Connection
12
Figure 7: Iriscontrols Connection Information
12
Navigating the GUI
13
Figure 8: Iriscontrols Settings Dialog
13
Home Page
14
Position / Kinematics Page
15
Figure 10: Iriscontrols Position Page
15
Tuning Panel
16
Figure 11: Iriscontrols Tuning Panel
16
Kinematic Panel
17
Figure 12: Iriscontrols Kinematic Panel
17
Application Note
18
Force / Haptics Page
19
Application Notes
20
Modbus / OAI Page
22
Modbus Server Status
22
Orca Analog Interface
23
Iriscontrols Logging
23
Orca Registers
24
Control Registers
24
Ctrl_Reg_0
24
Ctrl_Reg_1
24
Ctrl_Reg_2
24
Ctrl_Reg_3
25
Ctrl_Reg_4
25
Sensors
27
Force Sensor
27
Position Sensor
27
Power Sensor
27
Table 3: Sensors
27
Temperature Sensors
28
Controllers
29
Force Controller
29
Position Controller
29
General Tuning Guide
29
Proportional Action
29
Integral Action
30
Derivative Action
30
Saturation Level
30
Kinematic Controller
31
Software Triggering
31
Hardware Triggering
31
Configuring a Motion
32
Table 4: Kinematic Motion Configuration Registers
32
Haptic Controller
33
Effects
33
Configuring Effects
34
Table 5: Haptic Effect Configuration Registers
34
User Configurations
36
Maximum Temperature
36
Maximum Force
36
Maximum Power
36
Communication Timeout
36
Table 6: User Configuration Registers
36
Errors
37
Active and Latched Error Registers
37
Configuration Errors
37
Force Clipping
37
Table 7: Errors and Their Impact
37
Temperature Exceeded
38
Force Exceeded
38
Power Exceeded
38
Shaft Image Failed
38
Voltage Invalid
38
Communications Timeout
38
APPENDIX : Orca Memory Map
39
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