Linear actuator for xsimulator


#1

Hi all,
I found ODrive looking for a way to use RC components for a simulator rig with ball screw actuators.
I have read a lot in this forum, but before spending money, I want to be sure that it will work at the end.
The rig has load all the time to the actuator, so a index encoder has to be used to avoid the calibration.

First question: How does Odrive finds the endpoints of the mechanic?

xsim tools sends commands over a serial connection. A virtual com port should be fine. The format of the command is configurable. for example L10R30000 = first Motor goto position 10, second motor goes to 30000.
The L or R can be every character and the value can be decimal, binary or hex. Also the resolution is adjustable bitwise. In my example it’s 16bit. The command is send at a adjustable time every xx milli seconds.

Second question: Does the firmware accept this command or is a reprogramming necessary?

Thanks a lot / Greetings / Thomas


Using limit or home sensors?
#2

Today: the position at startup is taken as zero.
In about a month: You can use home switches and do a homing sequence.

That particular format is not supported directly, but it shouldn’t be too hard to add it.


Using limit or home sensors?
#3

OK, thank you. Seems that is exactly what I’m looking for.
My next steps are building the mechanical stuff and have a look to your code.

Thanks / Greetings / Thomas


#4

Hi,
if the home switches are supported, a encoder with quadrature output should do the job? A indexed one isn’t neccessary?

Thanks / Greetings / Thomas


#5

If the home switch is accurate I think in principle it should suffice. One thing to be careful about is the current through the motor when searching for the index: if its high and it has to go far, it could make the motor very warm.