IRIS ORCA Series Manuals

Manuals and User Guides for IRIS ORCA Series. We have 2 IRIS ORCA Series manuals available for free PDF download: Reference Manual, Manual

IRIS ORCA Series Reference Manual (67 pages)

Brand: IRIS | Category: Engine | Size: 1 MB

Table of Contents
2
Revision History
6
Introduction
7
Safety Warnings
8
Powering the Motor
9
Fuse
9
Ground
9
Chassis
9
Communication Interfaces
10
Methods of Motor Control
11
Modbus RTU Serial Interface
11
Iriscontrols Software
11
Orca IO Smarthub (Optional and Sold Separately)
11
Modes of Operation
12
Sleep Mode (1)
12
Force Mode (2)
12
Position Mode (3)
12
Haptic Mode (4)
12
Kinematic Mode (5)
13
Auto Zeroing Mode (55) (BETA)
13
Getting Started with Iriscontrols
14
Required Software
14
Required Hardware
15
Connecting to Iriscontrols
15
Troubleshooting Connection
16
Correct Splitter Port
16
FTDI Drivers
16
GUI Baudrate
16
Navigating the GUI
17
Home Page
17
Position / Kinematics Page
18
Position and Force Graph
18
Tuning Panel
19
PID Tuning - Max Force / Gain Adjustment
19
Sensor Sliders
19
Error Thresholds
19
Save Tuning Button
19
Apply Tuning Button
20
Invert Position Button
20
Zero Position Button
20
Zeroing Configuration
20
Start Auto Zero Button
20
Set Kinematic Profile Button
20
Kinematic Panel
21
Reset Defaults Button
21
Home Motion ID
21
Configuration Page Buttons
21
Motion Configuration Boxes
21
Save Configuration Button
21
Enable Button
21
State Indicator
22
Configuring a Motion
22
Trigger Buttons
22
Application Note
22
Continuous Looping Sequence
22
Force / Haptics Page
23
Force Graph
23
Enable Haptics Button
23
Save Configuration Button
23
Target and Sensed Force Sliders
24
Individual Haptic Effect Panels
24
Constant
24
Spring
24
Damper
24
Inertia
24
Oscillator
24
Application Notes
25
50 N Force for 1 Second Followed by 9 Seconds of Rest
25
Testing of High Force
25
Modbus Page
26
Last Received Modbus Message
26
Diagnostic Counters
26
Active Connection Info
26
Modbus Options
27
Save Modbus Options Button
27
Orca IO Smarthub Page
28
Iriscontrols Logging
29
Orca Registers
30
Control Registers
30
Ctrl_Reg_0
30
Ctrl_Reg_1
30
Ctrl_Reg_2
31
Ctrl_Reg_3
31
Ctrl_Reg_4
32
Sensors
33
Force Sensor
33
Position Sensor
33
Power Sensor
34
Temperature Sensors
34
Controllers
35
Force Controller
35
Position Controller
35
General Tuning Guide
35
Force Saturation Level
36
Units: Millinewtons (Mn)
36
Proportional Action
36
Units: Millinewtons-Per-Micrometer (Mn / ΜM)
36
Integral Action
36
Units: Millinewton-Seconds-Per-Micrometer (Mn·s / ΜM)
36
Derivative Action (Velocity)
36
Units: Millinewton-Millimeters-Per-Second (Mn·MM / S)
36
Derivative Action (Error)
37
Units: Millinewton-Millimeters-Per-Second (Mn·MM / S)
37
Position Auto Zeroing (BETA Feature)
37
Configuration
37
Maximum Force
37
Exit Mode
37
Enable on Startup
38
Kinematic Controller
39
Software Triggering
40
Configuring a Motion
40
Kinematic Status
41
Haptic Controller
42
Effects
42
Configuring Effects
44
User Configurations
45
Motor Performance Limits
45
Maximum Temperature
45
Maximum Force
45
Maximum Power
45
Communication Timeout
45
Input and Output Filters
46
Modbus Communications
46
Position Zeroing
46
Errors
47
Active and Latched Error Registers
47
Configuration Errors
48
Force Clipping
48
Temperature Exceeded
48
Force Exceeded
48
Power Exceeded
48
Shaft Image Failed
49
Voltage Invalid
49
Communications Timeout
49
APPENDIX : Orca Memory Map
50

IRIS ORCA Series Manual (5 pages)

Modbus over Half-Duplex RS485

Brand: IRIS | Category: Engine | Size: 0 MB

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