Specifications

CT Corsair Final Report May 2, 2014
29
20. Turn off 24Vdc hardware enable
21. In System Commands, Enable Model
22. Verify status LED 2 is blinking again on the drive
23. Select Save Parameters
24. Close System commands and Diagnostics windows
7.4 Servo Motor and Drive System Components
Component Name
Component Part Number
Part Included? Y/N
Rotational Actuator
G405-1034A
Y
DS2110 Analog Drive
G362-020-70-C-902G
Y
3 Phase Power Cable
CA28936-002-005
Y
Encoder Cable
CA65132-003-005
Y
12Ω Power Resistor
NA
Y
RS232 Null Modem Cable
NA
N
9 Pin Male Connector
NA
N
Wire Crimps
NA
N
Table 7. Servo Motor and Drive System Components
7.5 Motor Programming and Communications
The following Arduino sketch code is what was used to communicate with all the system motor
drives. The top section of define statements sets up the Arduino UNO microcontroller pins with
desired pin names to make the program more legible. The setup function establishes the baud
communication rate and establishes the modes of pins as either inputs or outputs. After setup, the
mapping variables are initialized. Finally, the loop function is run continuously throughout
simulator operation. It reads x-y coordinates from the dual joystick potentiometers and relates
those to a value established by the mapping function.
Based on the joystick inputs, the program runs through a number of logical if-then-else structures
to determine what type of movement should occur and how highly scaled this value should be.
This is written to the pins and communicated to the devices by simple analog communications.
The program is delayed to allow for processing, feedback signals and physical events to occur,
and then repeats.
//Simulator Control Program
#define speedPin1 9
#define speedPin2 10
#define dirPinRev1 2
#define dirPinFwd1 3
#define dirPinRev2 4
#define dirPinFwd2 5
#define JoyX A0
#define JoyY A1
#define inductionPot1 A2
#define inductionPot2 A3
void setup() {
// put your setup code here, to run once
Serial.begin(9600);