Search found 41 matches

by dave_rollinson
Wed May 20, 2020 12:00 am
Forum: Actuators
Topic: Damping coefficient and static friction constant
Replies: 4
Views: 5079

Re: Damping coefficient and static friction constant

Sorry for the delay getting back to you. Thanks for bumping this issue to a new topic! The motor inertia is the inertia of the internal brushless motor of the actuator. The gear inertia is the 'reflected inertia' of the various stages of the gear train. Both of these terms are expressed in the frame...
by dave_rollinson
Fri May 15, 2020 2:49 pm
Forum: Actuators
Topic: Actuator Gain Parameters
Replies: 3
Views: 8684

Re: Actuator Gain Parameters

Fahad, There is some info on the various parameters on our docs pages at: https://docs.hebi.us/core_concepts.html#controller_gains Below the diagram and table describing the parameters are some overall tips on tuning controller gains. If you're not using it already, I highly recommend using Scope wh...
by dave_rollinson
Thu May 07, 2020 4:54 pm
Forum: Actuators
Topic: Actuator modules not getting IP
Replies: 3
Views: 4359

Re: Actuator modules not getting IP

Since none of the actuators are showing up on the network, I would focus on the connections on the hip actuators. This assumes the actuators are all daisy-chained with the router on one end of the chain and the computer on the other, as shown in the Igor Assembly Documentation: https://docs.hebi.us/...
by dave_rollinson
Tue Apr 28, 2020 10:19 pm
Forum: General
Topic: Can you control HEBI Actuators using a PLC?
Replies: 1
Views: 5146

Re: Can you control HEBI Actuators using a PLC?

Sorry for the delay. HEBI modules are controlled over a custom communications protocol. This makes direct control of HEBI actuators by a PLC unfeasible, so in general the strategy is to use a Single Board Computer (e.g. a Raspberry Pi) to bridge between an industrial protocol and the HEBI actuators....
by dave_rollinson
Fri Mar 27, 2020 4:46 pm
Forum: Introductions | New user? Introduce yourself!
Topic: Hi! I'm Dave
Replies: 0
Views: 11454

Hi! I'm Dave

I'm Dave Rollinson. I'm one of the co-founders of HEBI and my technical contributions are primarily on mechanical design and controls. We're supposed to talk about something interesting to get things going. So I want to talk about what I want HEBI's legacy to be as a company. Yup. It will probably c...
by dave_rollinson
Tue Dec 31, 2019 4:43 pm
Forum: General
Topic: Support for Industrial Protocols?
Replies: 1
Views: 4805

Re: Support for Industrial Protocols?

We currently don't have plans to support industrial controllers or protocols directly on the actuators. However, there are potential ways to interface with industrial systems using intermediate hardware, like a Raspberry Pi. If you're able to share any details of your application, please contact us ...
by dave_rollinson
Tue Dec 31, 2019 4:40 pm
Forum: Scope
Topic: Scope on Raspberry Pi
Replies: 2
Views: 4687

Re: Scope on Raspberry Pi

Also, just in case you are not aware I'd also like to point out that Scope is independent from the APIs and can be run on any computer on the same network.

So as long as you are connected, you can run Scope from your development machine even if the robot is controlled from a Raspberry Pi.
by dave_rollinson
Tue Dec 31, 2019 4:40 pm
Forum: Scope
Topic: Scope on Raspberry Pi
Replies: 2
Views: 4687

Re: Scope on Raspberry Pi

Scope currently does not support Raspberry Pi or other ARM-based platforms.

This is in part because there are no pre-built binaries (jmods) for OpenJFX:
https://gluonhq.com/products/javafx/
by dave_rollinson
Tue Dec 31, 2019 4:36 pm
Forum: Actuators
Topic: Sensor for output torque
Replies: 1
Views: 3665

Re: Sensor for output torque

The output torque is directly sensed using a spring built into the output of the actuator. The sensor is behind the output shaft seals and does not measure seal drag, so the reading is accurate to about +/- 0.5 Nm or +/- 10% full value, whichever is greater. The resolution of the torque reading is a...