Difference between revisions of "Lifefix"
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{{pf_top_nav}} | {{pf_top_nav}} | ||
+ | {{T_Lifefix}} | ||
+ | =assembly= | ||
+ | *isolate (vibration and electrical) Aeon PC from LF chassis | ||
+ | **use vibration damping material and some sort of nylon screw - or rubber screw (a nylon screw seems as though it will allow for 1 side vibration still) | ||
+ | **the Aeon PC connects the electrical negative to the chassis - possibly we don't want to connect the EARTH ground to the PC chassis?? | ||
+ | |||
+ | fixture misc | ||
+ | *attach 5" blower to fixture - blowing onto internal EC30 and to 24V supply between the circuit breaker and power meter | ||
+ | *install limit switches - wire to Copley amplifier | ||
+ | |||
+ | |||
+ | ==24 V supply== | ||
+ | Use SWS600L-24 (24V 648W 27A), adjust to 24.0 +- 0.2V | ||
+ | * requires 3 outputs: | ||
+ | **direct (fused 2 amps?) connection to the PC | ||
+ | **direct 1 amp fused connection (use 2 wire red/black power inline fuse) to the charge amp (would be nice if this was also switched - possibly a PB?) | ||
+ | **high power connection to robot (USE 14 AWG wire): | ||
+ | *** connect 100V high power diode to power supply (please build a powerpole cable with both red and black wires, diode on red, and with orientation label) | ||
+ | *** followed by at least 0.1F 25V capacitor (w/1000 ohm 10watt bleeder resistor) | ||
+ | *** followed by 15amp circuit breaker / switch | ||
+ | *** split the connection here and attached to blower motor(s) | ||
+ | *** followed by watts up power meter (with load and source orientated correctly) | ||
+ | *** followed by 5000uF, 50V cap | ||
+ | *** followed by the FET board | ||
+ | |||
+ | |||
+ | ==48V Copley supply== | ||
+ | Use SWS600L-48 (48V 624W), adjust to 47.0 +- 0.4V | ||
+ | * connect 100V high power diode to power supply(please build a powerpole cable with both red and black wires, diode on red, and with orientation label) | ||
+ | * connect a 0.1F 50V capacitor (w 4000 ohm, 10 watt bleeder resistor) | ||
+ | * connect a 10amp circuit breaker | ||
+ | * connect a watts up power meter with correct load orientation | ||
+ | * connect to Copley primary power input | ||
+ | |||
+ | ==24V Copley backup supply== | ||
+ | *attach 24V, 1amp supply to the AUX power inputs on the Copley amp. Will need to share a ground with the primary power input | ||
+ | |||
+ | |||
+ | ==Copley Motor connections== | ||
+ | *Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output | ||
+ | *then each of the 3 phase Copley outputs needs to pass though a >90uH air-core, low resistance inductor. We have sleected a 110uH, 70mohm device from partsexpress. | ||
+ | *then onto the backdrive EC30 motor | ||
+ | |||
+ | ==Robot motor connections== | ||
+ | *Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output | ||
+ | *Then onto the internal robot motor | ||
+ | |||
=components= | =components= | ||
==communications== | ==communications== | ||
− | *isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html | + | *isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html (we have 2 of these) |
*[PSER2h http://mediawiki.dideas.com/index.php?title=Pser2h] + USB cable | *[PSER2h http://mediawiki.dideas.com/index.php?title=Pser2h] + USB cable | ||
*[LDWASH2 http://mediawiki.dideas.com/index.php?title=Ldwash2] | *[LDWASH2 http://mediawiki.dideas.com/index.php?title=Ldwash2] | ||
==caps== | ==caps== | ||
− | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=p10011-nd | + | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=p10011-nd 10011-ND] (digikey) 0.1F 25V solder terminal $12.07 (WE HAVE 10 OF THESE ALREADY) |
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=565-3310-ND 565-3310-ND] 0.068F 25V SCREW terminal $10.24 | ||
*[http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=565-3323-ND 565-3323-ND] (digikey) 0.1F 50V screwterminal $20.71 (WE HAVE 3 of THESE) | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=565-3323-ND 565-3323-ND] (digikey) 0.1F 50V screwterminal $20.71 (WE HAVE 3 of THESE) | ||
==power suppy== | ==power suppy== | ||
Line 14: | Line 62: | ||
*[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1633-ND SWS60048] - (48V 600W) (present think supply) | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1633-ND SWS60048] - (48V 600W) (present think supply) | ||
− | =circuit breakers / fuse / misc = | + | ==fans / circuit breakers / fuse / misc == |
− | + | ||
− | |||
− | |||
*battery backup for copley? | *battery backup for copley? | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?lang=en&site=US&WT.z_homepage_link=hp_go_button&KeyWords=T957-P5P-ND&x=0&y=0 24V 1amp] backup power supply | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=T966-P5P-ND 24V 2.5amp] separate 24V supply for the AEON | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | |||
+ | *2 of [http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=1N1184A-ND 100V 40A protection diode] | ||
+ | |||
+ | ===breakers=== | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=ADR3515-S1300-ND DIN rail, 13"] | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=288-1207-ND 10amp DIN breaker for copley primary power?] | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=288-1208-ND 15amp DIN breaker for robot primary power?] | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=288-1230-ND C25A3P 25amp - 3 pole DIN breakers for brushless motors?] | ||
+ | <br> | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=PB428-ND 15 amp breaker / switch for robot side primary power] | ||
+ | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=PB412-ND 1 amp breaker] or 1 amp inline fuse for charge amp | ||
+ | ===blowers=== | ||
+ | *blower to keep robot motor cool | ||
+ | *[http://www.mpja.com/prodinfo.asp?number=15718+FN 24V 5" blower] | ||
+ | *[http://www.mpja.com/prodinfo.asp?number=18016+FN 24V 4-11/16" blower] | ||
==powerwerx== | ==powerwerx== | ||
Line 31: | Line 98: | ||
*[http://www.parts-express.com/pe/pshowdetl.cfm?PartNumber=255-704&DID=7 0.11mH, 70mohm air core inductor] | *[http://www.parts-express.com/pe/pshowdetl.cfm?PartNumber=255-704&DID=7 0.11mH, 70mohm air core inductor] | ||
+ | |||
+ | |||
+ | |||
+ | <br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><br><br> | ||
+ | =OLD= | ||
=Power / Grounding = | =Power / Grounding = | ||
Line 38: | Line 110: | ||
* loadwasher case appears to be isolated from charge amp case and ground. (The load washer case does have electrical contact with the COAX outside.) | * loadwasher case appears to be isolated from charge amp case and ground. (The load washer case does have electrical contact with the COAX outside.) | ||
− | |||
− | |||
− | |||
− | |||
− | |||
=Copley supply voltage = | =Copley supply voltage = |
Latest revision as of 22:33, 23 August 2010
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
- LF: Lifefix_users; Ltf_science; lifefix_log ; Loadwasher ; Lifefix;
Contents
assembly
- isolate (vibration and electrical) Aeon PC from LF chassis
- use vibration damping material and some sort of nylon screw - or rubber screw (a nylon screw seems as though it will allow for 1 side vibration still)
- the Aeon PC connects the electrical negative to the chassis - possibly we don't want to connect the EARTH ground to the PC chassis??
fixture misc
- attach 5" blower to fixture - blowing onto internal EC30 and to 24V supply between the circuit breaker and power meter
- install limit switches - wire to Copley amplifier
24 V supply
Use SWS600L-24 (24V 648W 27A), adjust to 24.0 +- 0.2V
- requires 3 outputs:
- direct (fused 2 amps?) connection to the PC
- direct 1 amp fused connection (use 2 wire red/black power inline fuse) to the charge amp (would be nice if this was also switched - possibly a PB?)
- high power connection to robot (USE 14 AWG wire):
- connect 100V high power diode to power supply (please build a powerpole cable with both red and black wires, diode on red, and with orientation label)
- followed by at least 0.1F 25V capacitor (w/1000 ohm 10watt bleeder resistor)
- followed by 15amp circuit breaker / switch
- split the connection here and attached to blower motor(s)
- followed by watts up power meter (with load and source orientated correctly)
- followed by 5000uF, 50V cap
- followed by the FET board
48V Copley supply
Use SWS600L-48 (48V 624W), adjust to 47.0 +- 0.4V
- connect 100V high power diode to power supply(please build a powerpole cable with both red and black wires, diode on red, and with orientation label)
- connect a 0.1F 50V capacitor (w 4000 ohm, 10 watt bleeder resistor)
- connect a 10amp circuit breaker
- connect a watts up power meter with correct load orientation
- connect to Copley primary power input
24V Copley backup supply
- attach 24V, 1amp supply to the AUX power inputs on the Copley amp. Will need to share a ground with the primary power input
Copley Motor connections
- Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output
- then each of the 3 phase Copley outputs needs to pass though a >90uH air-core, low resistance inductor. We have sleected a 110uH, 70mohm device from partsexpress.
- then onto the backdrive EC30 motor
Robot motor connections
- Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output
- Then onto the internal robot motor
components
communications
- isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html (we have 2 of these)
- [PSER2h http://mediawiki.dideas.com/index.php?title=Pser2h] + USB cable
- [LDWASH2 http://mediawiki.dideas.com/index.php?title=Ldwash2]
caps
- 10011-ND (digikey) 0.1F 25V solder terminal $12.07 (WE HAVE 10 OF THESE ALREADY)
- 565-3310-ND 0.068F 25V SCREW terminal $10.24
- 565-3323-ND (digikey) 0.1F 50V screwterminal $20.71 (WE HAVE 3 of THESE)
power suppy
- SWS600L-48 (48V 624W) - thin version untested - http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1791-ND
- SWS600L-24 (24V 648W 27A) - this version untested -http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND
- SWS60048 - (48V 600W) (present think supply)
fans / circuit breakers / fuse / misc
- battery backup for copley?
- 24V 1amp backup power supply
- 24V 2.5amp separate 24V supply for the AEON
breakers
- DIN rail, 13"
- 10amp DIN breaker for copley primary power?
- 15amp DIN breaker for robot primary power?
- C25A3P 25amp - 3 pole DIN breakers for brushless motors?
- 15 amp breaker / switch for robot side primary power
- 1 amp breaker or 1 amp inline fuse for charge amp
blowers
- blower to keep robot motor cool
- 24V 5" blower
- 24V 4-11/16" blower
powerwerx
- 2 power meters : http://www.powerwerx.com/tools-meters/watts-up-meter-dc-inline.html
- splitters - http://www.powerwerx.com/powerpole-power-splitters/
- 6 way splitter - http://www.powerwerx.com/powerpole-power-splitters/ps-6aa-inline-6-way.html
- possibly this is better? : http://www.powerwerx.com/powerpole-power-splitters/rigrunner-4005.html
inductors
OLD
Power / Grounding
- ~48V to power copley and backdrive
- ~24V to power the PC
- ~24V to power the robot
- loadwasher case appears to be isolated from charge amp case and ground. (The load washer case does have electrical contact with the COAX outside.)
Copley supply voltage
- Peak motor input power : 25.2V * 30 amps = 756 watts
- torque advantage : 25k/7k = 3.57
- Maximum motor current = 30amps / 3.57 = 8.4amps
ir drop
- R = (450mohm + 160 mohm) * 3/4 (R of motor and inductors)
- IR = 3.4V
V=Ldi/dt
- L = (102uH + 160uH) * 3/4 = 200uH
- I=Io * sin(ft)
- f = 25krpm/60 * 2 elec cycles * 2pi = 5236 rads
- dI/dt=f * Io * cos(t) = f * Io (peak) = 5236 * 8.4 = 44e3 Amps/sec
- V = 200uH * 44e3 = 8.8V
back EMF
- EC30 speed const = 355 rpm/volt : 25000 = 70.4V
total supply
- total voltage = 70.4 + 3.4 + 8.8 = 82.6V
- max PWM = 96% (estimate) -> 86 volts needed on copley
What if only 4.2 amps at peak speed
- LdI/dt = 4.4V
- IR = 1.7V
- back EMF = 70.4VV
- total supply = 76.5/.96 = 79.7V
What if 4.2 amps at 23000 rpm
- LdI/dt = 4.05V
- IR = 1.7V
- back EMF = 64.8V
- total supply = 70.55/0.96 = 73.5V
Inductors
- [12 awg, 110uH, 70mohm air core]
- [12 awg, 80uH, 50mohm air core]
- [500 KHZ, 85uH, Isat=17A, PN: 323-18 (WCM323 series)]
- [PDF (Switcher as application) 100uH, Isat=13.0A]
- [Digikey 1KHZ : 100uH, 14A, 18mohm]
- [Digikey 1KHZ : 100uH, 14.4A, 25mohm]
Power Supplies
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