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V.03.02.18.Q
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GPS
GPS sensor output interface is RS232 serial port. Default settings for the serial port are: 115200, 8, N, 1, no flow
control, TCP, port number 10002
NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is
SNSRXCFG_200.exe.
Manipulator Arm
The manipulator arm is controlled by 3 RoboteQ SDC2130 control boards.
The program will communicate with it via 192.168.0.63 and 192.168.0.62 port 10001/10002 using TCP protocol.
You could find the manual from RoboteQ web site. You need to make sure that none of the motors gets stuck when driving
the arm, since this may over-heat and burn the motors and/or motor driver board.
The emergency stop command is !EX\r and resume command is !MG\r .
Joint Number
Joint1
(Motor Driver
board 1
channel 1)
Encoder : One circle count is 19000
Angle Resolution: 19000/ (2*PI)
This joint is working in position control mode(mode 3):
For example:
Command: !PR 1 -200\r
It will drive this joint up.
Command: !PR 1 200\r
It will drive this joint down.
Command: !P 1 -250\r
It will drive this motor to encoder position -250.(make sure you know where it is
and not in stuck state)
On control board, we set current limitation for this joint. It will enter emergency stop state
when current is over 12A or current over 7A for over 1000ms.
You could read temperature sensor via analog channel 3(AI 3).
The temperature sensor is B57164K103J, you could find how to conver the readings to
temperature from the sample codes.
Joint2(Motor
Driver board 1
channel 2)
Encoder : One circle count is 53706
Angle Resolution: 53706/ (2*PI)
This joint is working in position control mode(mode 3):
For example:
Command: !PR 2 -200\r
It will drive this joint up.
Command: !PR 2 200\r
It will drive this joint down.
Command: !P 2 -250\r
It will drive this motor to encoder position -250.(make sure you know where it is
and not in stuck state)
On control board, we set current limitation for this joint. It will enter emergency stop state
when current is over 8A or current over 6A for over 1000ms.
You could read temperature sensor via analog channel 4(AI 4).
The temperature sensor is B57164K103J, you could find how to conver the readings to
temperature from the sample codes.
Joint3(Motor
Driver board 2
channel 1)
Encoder : One circle count is 3724
Angle Resolution: 3724/ (2*PI)
This joint is working in position control mode(mode 3):
For example:
Command: !PR 1 -200\r
It will drive this joint to right.
Command: !PR 1 200\r
